轻量高强的18自由度仿人机械手，适合精细操作与重载任务。
Krysalis Hand: A Lightweight, High-Payload, 18-DoF Anthropomorphic End-Effector for Robotic Learning and Dexterous Manipulation
- 电机内置手心，每指关节自锁，省电且承力强
- 仅790克重，单指主动挤压力10牛，被动承重超10磅
- 适合科研与工业场景，代码开源可复现
本文提出Krysalis Hand，一种五指仿人机械手，兼具轻量化、高负载能力和18个自由度，适用于工业与研究环境中的灵巧操作。该设计将执行器集成于手部，保持类人形态。每个指关节配备自锁机构，可在无需电机持续驱动的情况下承受大外部力。这一方法将负载限制从电机强度转为机械结构强度，使可使用更小、更低成本的电机。该手重仅790克，每指主动挤压力达10牛，被动负载能力超过10磅（约4.5公斤）。实验验证其能完成复杂操作并承载重物，展现出在工业应用和学术研究中的潜力。相关控制与遥操作代码已开源至项目GitHub：https://github.com/Soltanilara/Krysalis_Hand
原文摘要 · Abstract (English)
This paper presents the Krysalis Hand, a five-finger robotic end-effector that combines a lightweight design, high payload capacity, and a high number of degrees of freedom (DoF) to enable dexterous manipulation in both industrial and research settings. This design integrates the actuators within the hand while maintaining an anthropomorphic form. Each finger joint features a self-locking mechanism that allows the hand to sustain large external forces without active motor engagement. This approach shifts the payload limitation from the motor strength to the mechanical strength of the hand, allowing the use of smaller, more cost-effective motors. With 18 DoF and weighing only 790 grams, the Krysalis Hand delivers an active squeezing force of 10 N per finger and supports a passive payload capacity exceeding 10 lbs. These characteristics make Krysalis Hand one of the lightest, strongest, and most dexterous robotic end-effectors of its kind. Experimental evaluations validate its ability to perform intricate manipulation tasks and handle heavy payloads, underscoring its potential for industrial applications as well as academic research. All code related to the Krysalis Hand, including control and teleoperation, is available on the project GitHub repository: https://github.com/Soltanilara/Krysalis_Hand
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