PACT: Pose-Robust Actuation Co-Design for Tendon-Driven Robotic Hands
PACT: Pose-Robust Actuation Co-Design for Tendon-Driven Robotic Hands
This paper introduces the PACT framework, which co-designs tendon routing, moment arms, and capstan dimensions for human-scale robotic hands. By optimizing these parameters under pose-dependent force requirements and drivetrain-bandwidth constraints, the method achieves a task-force coverage of 0.88-1.00 across eight poses and a predicted minimum isolated-joint flexion/extension bandwidth of 5 Hz within a 70th-percentile human-size envelope. Applied to a four-degree-of-freedom finger using quasi-direct-drive actuators, the framework produces an asymmetric N + 1 tendon topology. Prototype measurements deviate from predictions by up to 24.5%, primarily due to unmodeled transmission losses, indicating that co-designing routing with the drivetrain can meet performance requirements without relaxing bandwidth constraints.
The study proposes a co-design framework for tendon-driven robotic hands that optimizes routing and actuation dimensions to meet pose-dependent force requirements while maintaining bandwidth constraints, with prototype measurements showing deviations up to 24.5% from predictions due to unmodeled transmission losses.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
task-force coverage
0.88–1
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4task-force coverage
1
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4minimum isolated-joint flexion/extension bandwidth
5
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4prototype deviation from predictions
≤24.5
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4number of poses evaluated
8
Reported trials
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4degrees of freedom per finger
4
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4human-size envelope percentile
70
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4number of tendons in topology
1
View original evidence
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
rage at the weakest pose. Applied to a four-degree-of-freedom finger, the framework produces an asymmetric N + 1 tendon topology using quasi-direct-drive actuators. Across eight poses, the design achieves task-force coverage of 0.88-1.00 and a predicted 5 Hz minimum isolated-joint flexion/extension bandwidth within a 70th-percentile human-size envelope. Prototype measurements deviate from predictions by up to 24.5%,
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org