CRAFT手通过软硬混合结构提升抓取柔顺性与耐久性。
CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance
- 关节用软材料、连杆保持刚性，实现局部柔顺与整体强度平衡
- 15个电机驱动，可完成全部33种费克斯抓握动作，抗冲击能力更强
- 成本低于600美元，开源且支持视觉遥操作，适合机器人抓取研究
我们提出CRAFT手，一种基于腱驱动的仿人手，具备混合硬-软柔顺性，适用于高接触场景的操作。设计核心思想是：接触力在手部分布不均，关节处受力集中，连杆承担主要载荷。因此，CRAFT在关节处使用软材料，连杆保持刚性，并采用滚动接触关节表面以确保屈曲运动路径的重复性。15个电机安装于手指上，通过肌腱驱动，使整体结构紧凑且手指轻量化。结构测试表明，该手在保持相近重复性的同时显著提升了强度和耐久性。在遥操作实验中，其对易碎及低摩擦物体的处理能力更优，且能完成费克斯分类中的全部33种抓握动作。整套设计成本低于600美元，将开源发布，包含基于视觉的遥操作与仿真集成。项目页面：http://craft-hand.github.io/
原文摘要 · Abstract (English)
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the hand. Impacts concentrate at joints, while links carry most of the load. CRAFT places soft material at joints and keeps links rigid, and uses rollingcontact joint surfaces to keep flexion on repeatable motion paths. Fifteen motors mounted on the fingers drive the hand through tendons, keeping the form factor compact and the fingers light. In structural tests, CRAFT improves strength and endurance while maintaining comparable repeatability. In teleoperation, CRAFT improves handling of fragile and low-friction items, and the hand covers 33/33 grasps in the Feix taxonomy. The full design costs under $600 and will be released open-source with visionbased teleoperation and simulation integration. Project page: http://craft-hand.github.io/
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