人間の関節構造を再現したリンク機構駆動の完全多関節ヒューマノイド巧緻ハンド
A fully articulated humanoid dexterous hand with human-level joint structure enabled by linkage-based actuation
人間の手の関節構造を模した21自由度のロボットハンド「Torch-Hand」を開発し、腱駆動ではなくリンク機構のみで駆動することで高い把持力と制御のしやすさを両立させた。
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著者: Jihao Li, Jianguo Wang, Haotian Guo, Yanzhe Wang, Guodong Lu, Huixu Dong
分類: cs.RO
原文アブストラクト
Humanoid dexterous hands are a core component of embodied intelligence, enabling robots to translate high-level intent into rich and adaptive physical interaction. However, existing designs remain constrained by a persistent trade-off among anthropomorphic kinematic complexity, mechanical robustness, load capacity and control simplicity, limiting dexterous manipulation in unstructured environments. Here we present Torch-Hand, a fully articulated humanoid dexterous hand that replicates the joint structure and motion hierarchy of the human hand with 21 degrees of freedom (DOF), comprising a highly articulated five-DOF thumb and four DOF in each of the remaining fingers. The differentiated thumb integrates multi-axis CMC motion to provide broad opposition and flexible contact orientation relative to the four fingers. Unlike tendon-driven or hybrid actuation approaches, Torch-Hand adopts an entirely linkage-based transmission architecture. By integrating screw-linkage actuation, the hand achieves high grasping force and substantial payload capacity while maintaining a compact anthropomorphic form. Its actuation architecture is optimized for control tractability, with all actuators integrated within the palm and arranged in a serial-robot-like configuration that establishes a direct correspondence between motor motion and joint kinematics. This architecture mechanically decouples functional DOF to reduce unintended inter-joint motion propagation, while allowing independently addressable DOF to be actively coordinated into coupled multi-joint motion patterns during complex manipulation. Comprehensive experiments assess reachable workspace, coordinated fingertip trajectories, thumb opposition, 33-grasp taxonomy coverage, grasping force, payload capacity and task-level manipulation. These results establish Torch-Hand as a robust hardware foundation for dexterous embodied manipulation.
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