Event
PHD-Hand: 3D-printed linkage-driven dexterous hand paper accepted to Humanoids 2026
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Neel Adwani et al. propose PHD-Hand, a humanoid dexterous hand with linkage-driven actuation and three actuated degrees of freedom per finger, using flexure hinges and spring-steel elastic drive rods to simplify transmission and reduce miniature moving parts, and manufacturable on budget-level 3D printers. A prototype has completed grasping and object manipulation evaluations, and the paper presents kinematics and control results; it has been accepted to IEEE-RAS Humanoids 2026.
Report timeline
- 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.
arXiv cs.RO ·