{"ID":2835771,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.22100","arxiv_id":"2511.22100","title":"Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation","abstract":"Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis.","short_abstract":"Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing...","url_abs":"https://arxiv.org/abs/2511.22100","url_pdf":"https://arxiv.org/pdf/2511.22100v1","authors":"[\"Zelong Zhou\",\"Wenrui Chen\",\"Zeyun Hu\",\"Qiang Diao\",\"Qixin Gao\",\"Yaonan Wang\"]","published":"2025-11-27T04:42:44Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}