A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866911066488832000 |
|---|---|
| author | Chai, Jin Yao, Xiang Hou, Mengfan Li, Yanghong Dong, Erbao |
| author_facet | Chai, Jin Yao, Xiang Hou, Mengfan Li, Yanghong Dong, Erbao |
| contents | CYJ Hand-0 is a 21-DOF humanoid dexterous hand featuring a hybrid tendon-driven actuation system that combines shape memory alloys (SMAs) and DC motors. The hand employs high-strength fishing line as artificial tendons and uses a fully 3D-printed AlSi10Mg metal frame designed to replicate the skeletal and tendon-muscle structure of the human hand. A linear motor-driven module controls finger flexion, while an SMA-based module enables finger extension and lateral abduction. These modules are integrated into a compact hybrid actuation unit mounted on a custom rear support structure. Mechanical and kinematic experiments, conducted under an Arduino Mega 2560-based control system, validate the effectiveness of the design and demonstrate its biomimetic dexterity. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_14538 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0 Chai, Jin Yao, Xiang Hou, Mengfan Li, Yanghong Dong, Erbao Robotics CYJ Hand-0 is a 21-DOF humanoid dexterous hand featuring a hybrid tendon-driven actuation system that combines shape memory alloys (SMAs) and DC motors. The hand employs high-strength fishing line as artificial tendons and uses a fully 3D-printed AlSi10Mg metal frame designed to replicate the skeletal and tendon-muscle structure of the human hand. A linear motor-driven module controls finger flexion, while an SMA-based module enables finger extension and lateral abduction. These modules are integrated into a compact hybrid actuation unit mounted on a custom rear support structure. Mechanical and kinematic experiments, conducted under an Arduino Mega 2560-based control system, validate the effectiveness of the design and demonstrate its biomimetic dexterity. |
| title | A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0 |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.14538 |