2025/04/20 by Weng, Zhengyang Kris · 3 citations
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2504.14712
Achieving human-level dexterity in robotic hands remains a fundamental challenge for enabling versatile manipulation across diverse applications. This extended abstract presents BiDexHand, a cable-driven biomimetic robotic hand that combines human-like dexterity with accessible and efficient mechanical design. The robotic hand features 16 independently actuated degrees of freedom and 5 mechanically coupled joints through novel phalange designs that replicate natural finger motion. Performance validation demonstrated success across all 33 grasp types in the GRASP Taxonomy, 9 of 11 positions in the Kapandji thumb opposition test, a measured fingertip force of 2.14 N, and the capability to lift a 10 lb weight. As an open-source platform supporting multiple control modes including vision-based teleoperation, BiDexHand aims to democratize access to advanced manipulation capabilities for the broader robotics research community.