[Submitted on 28 Sep 2026]
Title:Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
View a PDF of the paper titled Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation, by Chunghyeon Lee and 4 other authors
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Abstract:Dexterous robotic hands typically reproduce human hand morphology but inherit its one-sided grasping workspace, requiring wrist or arm reorientation to grasp from the opposite side. Existing reversible hands generally rely on non-anthropomorphic, soft, or task-specific finger arrangements, whereas conventional five-digit anthropomorphic hands remain designed primarily for palmar-side grasping. This paper presents an anthropomorphic, human-scale (200 mm length), lightweight (220 g), 3D-printed, 17-DoF robotic hand built on a bidirectional antagonistic tendon-routing mechanism, in which flexion/extension (except the coupled joint) and abduction/adduction at joints are actively driven without passive return springs. The proposed routing mechanism allows all degrees of freedom to cross their neutral configuration and form grasp closures on either the palmar or dorsal side. Experimental evaluation demonstrates an average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm. The hand further achieves a Kapandji score of 8, successfully performs all 33 GRASP Taxonomy grasp types, and performs palmar- and dorsal-side grasping tasks, validating bidirectional operation in a compact, human-scale platform.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.36241 [cs.RO]
(or arXiv:2609.36241v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.36241
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Chunghyeon Lee [view email] [v1] Mon, 28 Sep 2026 20:36:21 UTC (3,252 KB)
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