腱駆動ハンド向け直接剛性伝達2自由度手首拡張

原文アブストラクト

Dexterous manipulation in confined spaces requires local control of hand orientation. Without a wrist, a dexterous hand must obtain this local orientation through coordinated motion of the robot arm, often involving several joints and a more complex end-effector path. We present CRAFT-Wrist, a concentric 2-DoF wrist extension that mounts between a robot arm and the CRAFT Hand without modifying the hand. Two XC430-T240BB-T servos drive sideways and front-back rotation through short rigid transmissions. Our initial hardware prototype actuates both axes under load, achieving a demonstrated workspace of $\pm20^{\circ}$ in radial--ulnar deviation (left--right) and a front-back range of $+80^{\circ}$ in flexion and $-18^{\circ}$ in extension. We characterize the resulting finger-motor loading across several wrist postures and demonstrate how the wrist supplies local orientation in grasping, nail hammering, and blackboard wiping. Demonstrations and assembly instructions are available at https://craft-wrist.github.io/.