ロボットハンド/遠隔駆動/腱駆動/器用操作2026/4/1arXiv:2604.17245

MM-Hand: 遠隔駆動を備えた21自由度のマルチモーダルモジュール式器用ロボットハンド

MM-Hand: A 21-DOF Multi-modal Modular Dexterous Robotic Hand with Remote Actuation

本論文は、遠隔腱駆動によりモーターを外部に配置し、指と手のひらに自由度とセンサを集約した21自由度の器用ハンドMM-Handを提案し、伝達機構、力出力、センシング、制御性能を実験で検証した。

詳しい要約

1. どんなもの？

- 21-DOF の多モーダル・モジュラー型 dexterous robotic hand「MM-Hand」 - remote tendon-driven actuation を採用 - spring-return tendon-driven fingers - modular 3D-printed finger/palm structures - quick tendon connectors - multimodal sensing: joint angle sensors, tactile sensors, motor-side feedback, in-palm stereo vision - ハードウェア設計とソフトウェアフレームワークを完全 open-source 化 - https://mmlab.hk/research/MM-Hand

2. 先行研究と比べてどこがすごい？

- 従来設計の課題 - 高い DOF には compact actuation, rich sensing, reliable thermal behavior が必要 - しかし in-hand space を圧迫し、end-effector mass を増やし、hand 近傍で heat accumulation が起きる - MM-Hand の利点 - remote tendon-driven actuation で motors を robot base や external motor hub へ移動 - その結果、fingers と palm に追加 DOF、sensing modules、maintainable mechanical structures の余地を確保 - lightweight, sensor-rich, maintainable な hardware platform を提供

3. 技術・手法の肝は？

- remote tendon-driven actuation を基盤 - spring-return tendon-driven fingers - modular 3D-printed finger/palm structures - quick tendon connectors for maintenance - multimodal sensing system - joint angle sensors - tactile sensors - motor-side feedback - in-palm stereo vision - tendon-sheath length variation と friction loss を解析 - routing, motor hub, closed-loop joint control の設計指針に反映

4. どうやって有効だと検証した？

- transmission, output force, sensing, control capability を実験で検証 - fingertip force が 1m remote sheath transmission 下で 25N に到達 - 長距離 tendon routing でも実用的な load capacity を示す - closed-loop joint-level experiments - static arm および arm motion 中の command tracking を評価

5. 議論はある？

- 要旨からは不明 - 具体的な議論や限界、failure modes、汎化性については記述なし

6. 次に読むべき論文は？

- 要旨で参照/比較されている研究は明示されていない - 同分野の関連手法として以下が考えられる - remote tendon-driven actuation を用いた dexterous hands - tendon-sheath transmission の摩擦・長さ変動補償 - multimodal sensing を統合した robotic hands - open-source dexterous hand platforms

※ AIが要旨から生成した要約です。正確性は原文をご確認ください。

著者: Zhuoheng Li, Qingquan Lin, Checheng Yu, Qiangyu Chen, Zhiqian Lan, Lutong Zhang, Hongyang Li, Ping Luo

分類: cs.RO

原文アブストラクト

High-DOF dexterous hands require compact actuation, rich sensing, and reliable thermal behavior, but conventional designs often occupy valuable in-hand space, increase end-effector mass, and suffer from heat accumulation near the hand. Remote tendon-driven actuation offers an alternative by relocating motors to the robot base or an external motor hub, thereby freeing the fingers and palm for additional degrees of freedom, sensing modules, and maintainable mechanical structures. This paper presents MM-Hand, a 21-DOF Multimodal Modular dexterous hand based on remote tendon-driven actuation. The hand integrates spring-return tendon-driven fingers, modular 3D-printed finger and palm structures, quick tendon connectors for maintenance, and a multimodal sensing system including joint angle sensors, tactile sensors, motor-side feedback, and in-palm stereo vision. We further analyze tendon-sheath length variation and friction loss to guide the design of the routing, motor hub, and closed-loop joint control. Experiments validate the transmission, output force, sensing, and control capability of the system. The fingertip force reaches 25N under a 1m remote sheath transmission, demonstrating practical load capacity despite long-distance tendon routing. Closed-loop joint-level experiments further evaluate command tracking with a static arm and during arm motion. These results show that MM-Hand provides a lightweight, sensor-rich, and maintainable hardware platform for dexterous manipulation research. To support the community, all hardware designs and software frameworks are made fully open-source at https://mmlab.hk/research/MM-Hand.

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