A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand

arXiv:2609.22681 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Project page: https://craft-wrist.github.io

Terminology

• Alignment — 3× in this paper · explained in 1 episode
• Trace — 3× in this paper · explained in 2 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes

Sources

• Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
• SoftHand Model-W: A 3D-Printed, Anthropomorphic, Underactuated Robot Hand with Integrated Wrist and Carpal Tunnel
• DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
• CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

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