A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866911544430821376 |
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| author | Sonoda, Misato Hinchet, Ronan Kazemipour, Amirhossein Toshimitsu, Yasunori Katzschmann, Robert K. |
| author_facet | Sonoda, Misato Hinchet, Ronan Kazemipour, Amirhossein Toshimitsu, Yasunori Katzschmann, Robert K. |
| contents | Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic actuators offer a promising alternative. This paper presents the design, control, and evaluation of a novel musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators, specifically optimized for safe manipulation. By relocating the actuators to the forearm, we functionally isolate the grasping interface from electrical hazards while maintaining a slim, human-like profile. To address the inherently limited linear contraction of these soft actuators, we integrate a 1:2 pulley routing mechanism that mechanically amplifies tendon displacement. The resulting system prioritizes compliant interaction over high payload capacity, leveraging the intrinsic force-limiting characteristics of the actuators to provide a high level of inherent safety. Furthermore, this physical safety is augmented by the self-sensing nature of the HASEL actuators. By simply monitoring the operating current, we achieve real-time grasp detection and closed-loop contact-aware control without relying on external force transducers or encoders. Experimental results validate the system's dexterity and inherent safety, demonstrating the successful execution of various grasp taxonomies and the non-destructive grasping of highly fragile objects, such as a paper balloon. These findings highlight a significant step toward simplified, inherently compliant soft robotic manipulation. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_24357 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators Sonoda, Misato Hinchet, Ronan Kazemipour, Amirhossein Toshimitsu, Yasunori Katzschmann, Robert K. Robotics Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic actuators offer a promising alternative. This paper presents the design, control, and evaluation of a novel musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators, specifically optimized for safe manipulation. By relocating the actuators to the forearm, we functionally isolate the grasping interface from electrical hazards while maintaining a slim, human-like profile. To address the inherently limited linear contraction of these soft actuators, we integrate a 1:2 pulley routing mechanism that mechanically amplifies tendon displacement. The resulting system prioritizes compliant interaction over high payload capacity, leveraging the intrinsic force-limiting characteristics of the actuators to provide a high level of inherent safety. Furthermore, this physical safety is augmented by the self-sensing nature of the HASEL actuators. By simply monitoring the operating current, we achieve real-time grasp detection and closed-loop contact-aware control without relying on external force transducers or encoders. Experimental results validate the system's dexterity and inherent safety, demonstrating the successful execution of various grasp taxonomies and the non-destructive grasping of highly fragile objects, such as a paper balloon. These findings highlight a significant step toward simplified, inherently compliant soft robotic manipulation. |
| title | A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.24357 |