开源16自由度仿生机械手，实现人类级灵巧操作
BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand
- 通过创新指节设计实现16个独立驱动自由度与5个耦合关节
- 成功完成GRASP分类中33种抓握、可举起10磅重物
- 支持视觉遥操作等多模式控制，适合机器人灵巧操作研究
实现机器人手部类人灵巧性仍是诸多应用场景中实现通用操作的核心挑战。本文介绍BiDexHand，一种基于缆绳驱动的仿生机器人手，兼具类人灵巧性与高效易得的机械设计。该手具备16个独立驱动自由度和5个通过新型指节设计实现的机械耦合关节，能复现自然手指运动。性能验证表明，其在GRASP分类中成功完成全部33种抓握类型，完成凯潘迪拇指对掌测试中的11项中的9项，指尖力达2.14牛，具备举起10磅重物的能力。作为开源平台，支持包括基于视觉的遥操作在内的多种控制模式，旨在为更广泛的机器人研究社区提供先进操作能力的普惠访问。
原文摘要 · Abstract (English)
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.
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