Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation
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arXiv
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| Format: | Preprint |
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2025
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| _version_ | 1866916969361440768 |
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| author | Zhaole, Sun Mao, Xiaofeng Zhu, Jihong Zhang, Yuanlong Fisher, Robert B. |
| author_facet | Zhaole, Sun Mao, Xiaofeng Zhu, Jihong Zhang, Yuanlong Fisher, Robert B. |
| contents | Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits robotic capabilities to tasks humans can already perform, and 2) it makes data collection for learning-based methods exceedingly difficult. Both challenges are caused by traditional force-closure which requires coordinating complex, multi-point contacts based on friction, normal force, and gravity to grasp an object. This makes teleoperated demonstrations unstable and amplifies the sim-to-real gap for reinforcement learning. In this work, we propose a paradigm shift: moving away from replicating human mechanics toward the design of novel robotic embodiments. We introduce the \textbf{S}uction \textbf{Leap}-Hand (SLeap Hand), a multi-fingered hand featuring integrated fingertip suction cups that realize a new form of suction-enabled dexterity. By replacing complex force-closure grasps with stable, single-point adhesion, our design fundamentally simplifies in-hand teleoperation and facilitates the collection of high-quality demonstration data. More importantly, this suction-based embodiment unlocks a new class of dexterous skills that are difficult or even impossible for the human hand, such as one-handed paper cutting and in-hand writing. Our work demonstrates that by moving beyond anthropomorphic constraints, novel embodiments can not only lower the barrier for collecting robust manipulation data but also enable the stable, single-handed completion of tasks that would typically require two human hands. Our webpage is https://sites.google.com/view/sleaphand. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_20646 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation Zhaole, Sun Mao, Xiaofeng Zhu, Jihong Zhang, Yuanlong Fisher, Robert B. Robotics Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits robotic capabilities to tasks humans can already perform, and 2) it makes data collection for learning-based methods exceedingly difficult. Both challenges are caused by traditional force-closure which requires coordinating complex, multi-point contacts based on friction, normal force, and gravity to grasp an object. This makes teleoperated demonstrations unstable and amplifies the sim-to-real gap for reinforcement learning. In this work, we propose a paradigm shift: moving away from replicating human mechanics toward the design of novel robotic embodiments. We introduce the \textbf{S}uction \textbf{Leap}-Hand (SLeap Hand), a multi-fingered hand featuring integrated fingertip suction cups that realize a new form of suction-enabled dexterity. By replacing complex force-closure grasps with stable, single-point adhesion, our design fundamentally simplifies in-hand teleoperation and facilitates the collection of high-quality demonstration data. More importantly, this suction-based embodiment unlocks a new class of dexterous skills that are difficult or even impossible for the human hand, such as one-handed paper cutting and in-hand writing. Our work demonstrates that by moving beyond anthropomorphic constraints, novel embodiments can not only lower the barrier for collecting robust manipulation data but also enable the stable, single-handed completion of tasks that would typically require two human hands. Our webpage is https://sites.google.com/view/sleaphand. |
| title | Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.20646 |