A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation

arXiv:2609.27240 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Adaptability — 3× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Robustness — 2× in this paper · explained in 5 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Scaling Laws — 1× in this paper · explained in 4 episodes

Sources

• Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
• ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation
• CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand

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