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This study introduces a tendon-driven five-fingered robotic hand designed to enhance dexterous manipulation through distributed tactile perception. By integrating a soft-rigid-hybrid structure and dual-modality tactile sensors across all fingers, the hand can detect both static and dynamic forces, significantly improving its interaction capabilities. Experimental results showcase its effectiveness in various manipulation tasks, highlighting the hand's potential for complex robotic applications.
A novel tendon-driven hand design achieves unprecedented dexterity and tactile perception, enabling complex manipulation tasks previously thought infeasible for robots.
To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.
