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EgoThumb: A Vision-Driven Supernumerary Robotic Thumb for Autonomous Grasping and Holding Assistance

EgoThumb is a fully open-source, vision-driven supernumerary robotic thumb that uses a visual imitation learning policy to map first-person images from a palm-facing camera directly to continuous joint positions, enabling autonomous grasping and holding assistance. Its compact dual tendon-driven finger relocates the actuation unit to the forearm to reduce distal weight and support precise active joint control. The authors state that the design generalizes across different users and environments, that both hardware and software are open-sourced, and that the paper has been accepted to IROS.

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