低成本可自研的仿人灵巧手，带触觉感知，适合真实场景实验。
MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand
- 模块化3D打印设计，13个主动自由度，直接驱动扭矩低。
- 集成283个三轴触觉传感器，整机仅700克，成本低于3000美元。
- 开源软硬件全栈，适合触觉操控与人机数据采集研究。
灵巧操作受限于算法和硬件，现有灵巧手常在人体尺度、制造/维护便捷性、触觉感知和实际成本间难以兼顾。本文提出MIDAS Hand，一种低成本、开源、人体尺度的灵巧手，集成触觉传感，适用于操纵研究。该手具备16个总自由度（13个主动自由度），采用直接驱动，具有可测量的低反向驱动力矩，集成283个三轴触觉单元（taxels），整体重量仅700克，物料成本低于3000美元。全部由3D打印组件构成，组装时间少于3小时，兼具强度、重复性和可维护性，适合反复真实实验。配套发布完整技术栈：设计文件、装配文档、控制与触觉Python API、仿真模型、重定向与遥操作流程。通过工作空间分析、抓握分类、负载与可靠性测试、反向驱动性测量及带触觉的遥操作演示，验证其在触觉灵巧操作与人机数据采集方面具备平衡性与可复现性。
原文摘要 · Abstract (English)
Dexterous manipulation is limited not only by algorithms but by a shortage of accessible hand hardware that combines human-scale morphology, ease of manufacturing or maintenance, tactile sensing, and practical cost. Existing dexterous hands tend to optimize some of these properties at the expense of others. We present MIDAS Hand, a low-cost, open-source, human-scale dexterous hand with integrated tactile sensing for manipulation research. MIDAS Hand provides 16 total degrees of freedom (DoF) with 13 active DoF, directly driven actuation with measurably low backdrive torque, and 283 three-axis tactile taxels in a compact 700 g package with a bill of materials under 3,000 USD. Built from 3D-printed components, it assembles in under three hours while providing the strength, repeatability, and maintainability needed for repeated real-world experiments. Alongside the hardware, we release a full stack: design files, build documentation, control and tactile Python APIs, simulation models, and retargeting and teleoperation pipelines. We characterize MIDAS Hand through workspace and grasp-taxonomy analysis, payload and reliability tests, backdrivability measurements, and teleoperation demonstrations with tactile sensing, showing that it offers a balanced, reproducible platform for tactile dexterous manipulation and human-to-robot data collection. Project page: https://midas-hand.com
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