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The Cartesian Hand is introduced, a 7-DoF end-effector that rethinks dexterous manipulation by combining independent grasping and relative manipulation within a single end-effector using only linear motion.
Copying human head-neck kinematics leaves over 60% of reachable manipulation space unobservable; independently actuating onboard RGB-D cameras surges visible-reachable coverage to 97% while cutting manipulation energy by 19%.