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<p>Dexterous hands are essential for robotic grasping and manipulation; however, existing designs remain limited in achieving both structural and functional biomimicry. In this study, a humanoid dexterous hand, termed the REL Hand, was developed and experimentally evaluated. The REL Hand adopts a modular architecture comprising five digits and one palm, with 15 active and 5 passive degrees of freedom. A hybrid tendon-and-linkage actuation system was designed to enable compact mechanical integration and motion decoupling. The hand further incorporates a fingertip preload mechanism, five thin-film pressure sensors, ten custom inertial measurement units, and an embedded control system for multisensory acquisition and actuator coordination. Experimental results showed that the REL Hand generated an average fingertip force of approximately 4.9 N and reproduced all 16 representative grasp configurations in the Cutkosky taxonomy. Compared with the commercial OHand, the REL Hand improved trajectory correlation and morphological similarity to human hand motion by 8% and 17.7%, respectively. Object-grasping experiments using the Yale-CMU-Berkeley object set demonstrated high grasping success rates for common daily objects. Moreover, the preload mechanism improved grasping performance by factors of 1.9, 1.7, and 4.7 for food items, kitchen items, and tools, respectively. Overall, the REL Hand provides a compact and biomimetic platform for dexterous robotic grasping and manipulation.</p>

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Design and evaluation of a tendon-and-linkage hybrid-driven humanoid dexterous hand

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年8月4日

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  • Ke Li,
  • Fanlin Meng,
  • Linjie Liu,
  • Raviraj Nataraj,
  • Ning Sun,
  • Na Wei

摘要

Dexterous hands are essential for robotic grasping and manipulation; however, existing designs remain limited in achieving both structural and functional biomimicry. In this study, a humanoid dexterous hand, termed the REL Hand, was developed and experimentally evaluated. The REL Hand adopts a modular architecture comprising five digits and one palm, with 15 active and 5 passive degrees of freedom. A hybrid tendon-and-linkage actuation system was designed to enable compact mechanical integration and motion decoupling. The hand further incorporates a fingertip preload mechanism, five thin-film pressure sensors, ten custom inertial measurement units, and an embedded control system for multisensory acquisition and actuator coordination. Experimental results showed that the REL Hand generated an average fingertip force of approximately 4.9 N and reproduced all 16 representative grasp configurations in the Cutkosky taxonomy. Compared with the commercial OHand, the REL Hand improved trajectory correlation and morphological similarity to human hand motion by 8% and 17.7%, respectively. Object-grasping experiments using the Yale-CMU-Berkeley object set demonstrated high grasping success rates for common daily objects. Moreover, the preload mechanism improved grasping performance by factors of 1.9, 1.7, and 4.7 for food items, kitchen items, and tools, respectively. Overall, the REL Hand provides a compact and biomimetic platform for dexterous robotic grasping and manipulation.