Related papers: Ruka-v2: Tendon Driven Open-Source Dexterous Hand …

Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and affordability. Existing control methods impose compromises on hand…

General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast datasets of human-hand interactions. However, the primary…

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…

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…

The human hand plays a vital role in daily life and industrial applications, yet replicating its multifunctional capabilities-including motion, sensing, and coordinated manipulation with robotic systems remains a formidable challenge.…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…

Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…

Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dexterous hand manipulation. While low-dimensional gripper control…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…

A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this…

The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…

Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…

Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to simulation. This can be mostly attributed to the lack of…

We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action inference. Our system features a newly designed 16-DoF…

Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…

We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to…

This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation…

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…

Accessible communication through sign language is vital for deaf communities, 1 yet robotic solutions are often costly and limited. This study presents VulcanV3, a low- 2 cost, open-source, 3D-printed ambidextrous robotic hand capable of…

Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human…