低成本仿生机械手实现20自由度灵巧遥操作，适合大规模数据采集。
RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation
- 采用新型仿生传动与优化电机布局，20自由度全驱动设计。
- 在取物、舀水、弹琴任务中表现优异，验证灵巧性。
- 3D打印+自定义齿轮，易维修，成本低，适合研究部署。
本文针对灵巧遥操作中缺乏低成本、全驱动五指机械手的问题，提出Rapid Hand原型机。该手是首个具备20个自由度（DoA）的低成本灵巧手，通过创新的人体仿生驱动与传动结构，结合优化电机布局和结构设计，显著提升操作灵巧性。非拇指手指采用通用指节传动方案，拇指则配备全向驱动机构。为兼顾成本与可维护性，整机使用3D打印部件与定制齿轮，便于更换修复。通过定量指标与定性测试，在多指抓取、勺子操作、类人钢琴演奏三项挑战任务中评估性能，结果表明其20自由度全驱动设计在灵巧遥操作中具有巨大潜力。
原文摘要 · Abstract (English)
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce the prototype version of the RAPID Hand, the first low-cost, 20-degree-of-actuation (DoA) dexterous hand that integrates a novel anthropomorphic actuation and transmission scheme with an optimized motor layout and structural design to enhance dexterity. Specifically, the RAPID Hand features a universal phalangeal transmission scheme for the non-thumb fingers and an omnidirectional thumb actuation mechanism. Prioritizing affordability, the hand employs 3D-printed parts combined with custom gears for easier replacement and repair. We assess the RAPID Hand's performance through quantitative metrics and qualitative testing in a dexterous teleoperation system, which is evaluated on three challenging tasks: multi-finger retrieval, ladle handling, and human-like piano playing. The results indicate that the RAPID Hand's fully actuated 20-DoF design holds significant promise for dexterous teleoperation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。