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PHD-Hand: A 3D-Printable Humanoid Dexterous Hand with Linkage-Driven 3-DOA Fingers

PHD-Hand is a linkage-driven humanoid dexterous hand with three drive degrees of actuation (DOA) per finger. It uses a unique flexure hinge and elastic drive rods made of spring steel to simplify the transmission, avoiding the need for many miniature moving parts, and can be manufactured with budget-level 3D printers, lowering the barrier to use and development of dexterous hands and bringing its size closer to that of a human hand. A prototype has been used for grasping and object manipulation evaluation, and the paper also presents the latest research results on the hand's kinematics and control. It has been accepted by IEEE-RAS Humanoids 2026.

Part of the event: PHD-Hand: 3D-printed linkage-driven dexterous hand paper accepted to Humanoids 2026

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