# Torch-Hand: A 21-DOF Linkage-Driven Humanoid Dexterous Hand

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ozfbm90l0zxctlzgkvx4ikwtj
- Original: https://arxiv.org/abs/2610.36789

## Summary

The research team proposed Torch-Hand, a humanoid dexterous hand featuring an all-linkage transmission architecture with 21 degrees of freedom, including 5 DOF in the thumb and 4 DOF in each of the other four fingers. The hand integrates its actuators into the palm in a serial-robot-like arrangement, so that motor motion corresponds directly to joint kinematics while balancing grasp force and payload capacity. Experiments evaluated the reachable workspace, fingertip coordinated trajectories, thumb opposition, coverage of 33 grasp categories, grasp force, payload, and task-level manipulation.