Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation
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arXiv
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| Format: | Preprint |
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2025
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| _version_ | 1866908677758255104 |
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| author | Zhou, Zelong Chen, Wenrui Hu, Zeyun Diao, Qiang Gao, Qixin Wang, Yaonan |
| author_facet | Zhou, Zelong Chen, Wenrui Hu, Zeyun Diao, Qiang Gao, Qixin Wang, Yaonan |
| contents | Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_22100 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation Zhou, Zelong Chen, Wenrui Hu, Zeyun Diao, Qiang Gao, Qixin Wang, Yaonan Robotics Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis. |
| title | Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.22100 |