{"ID":2853213,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.16931","arxiv_id":"2510.16931","title":"RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation","abstract":"This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the \"Learning from Demonstrations\" paradigm. We introduce the prototype version of the RAPID Hand, the first low-cost, 20-degree-of-actuation (DoA) dexterous hand that integrates a novel anthropomorphic actuation and transmission scheme with an optimized motor layout and structural design to enhance dexterity. Specifically, the RAPID Hand features a universal phalangeal transmission scheme for the non-thumb fingers and an omnidirectional thumb actuation mechanism. Prioritizing affordability, the hand employs 3D-printed parts combined with custom gears for easier replacement and repair. We assess the RAPID Hand's performance through quantitative metrics and qualitative testing in a dexterous teleoperation system, which is evaluated on three challenging tasks: multi-finger retrieval, ladle handling, and human-like piano playing. The results indicate that the RAPID Hand's fully actuated 20-DoF design holds significant promise for dexterous teleoperation.","short_abstract":"This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the \"Learning from Demonstrations\" paradigm. We introduce the prototype version of the RAPID Hand, the first low-cost, 20-degree-of-actuatio...","url_abs":"https://arxiv.org/abs/2510.16931","url_pdf":"https://arxiv.org/pdf/2510.16931v2","authors":"[\"Zhaoliang Wan\",\"Zida Zhou\",\"Zetong Bi\",\"Zehui Yang\",\"Hao Ding\",\"Hui Cheng\"]","published":"2025-10-19T17:03:26Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}