Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
This paper presents an anthropomorphic, human-scale robotic hand with 17 degrees of freedom, built on a bidirectional antagonistic tendon-routing mechanism. The hand enables grasping on both the palmar and dorsal sides, achieving a Kapandji score of 8 and successfully performing all 33 GRASP Taxonomy grasp types. Experimental results show an average motor-to-joint transmission error of 3.0% and a maximum fingertip force of 29 N.
Evidence and limits
Published automatically after robotics and source-evidence checks; no manual editorial approval is recorded. Source assertions are not independently verified. Missing information remains not reported.
- Environment:
- Not reported
- Control:
- Not reported
- Data origin:
- Not reported
| Metric | Value / unit | Basis / context | Evidence |
|---|---|---|---|
| average motor-to-joint transmission error | 3 percent | Basis not reported Source wording: “average motor-to-joint transmission error of 3.0%” | Source E1 |
| average joint transmission bandwidth | 13.2 hours | Basis not reported Source wording: “average joint transmission bandwidth of 13.2 Hz” | Source E1 |
| maximum fingertip force | 29 percent | Basis not reported Source wording: “maximum fingertip force of 29 N” | Source E1 |
| positioning repeatability | 0.15 other | Basis not reported Source wording: “positioning repeatability up to 0.15 mm” | Source E1 |
- dataset: Not reported
Source excerpts and review record
No manual editorial approval recorded.
Original source quotation: “average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm.”
Source E1
Source：arXiv Robotics — research abstracts · arxiv.org