[{"data":1,"prerenderedAt":117},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Fdexterous-hand":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":107,"extension":108,"keywords":109,"meta":110,"navigation":111,"path":112,"seo":113,"stem":114,"updated":115,"__hash__":116},"glossary\u002Fglossary\u002Fen\u002Fdexterous-hand.md","Dexterous Hand","灵巧手",{"type":8,"value":9,"toc":100},"minimark",[10,15,30,35,43,59,63,83,87],[11,12,14],"h1",{"id":13},"what-is-a-dexterous-hand","What Is a Dexterous Hand?",[16,17,18,19,23,24,29],"p",{},"A ",[20,21,22],"strong",{},"dexterous hand"," is a multi-degree-of-freedom robotic end-effector modeled on the structure and function of the human hand: coordinated motion of multiple fingers and joints enables grasping, pinching, and in-hand reorientation of objects. Unlike a two-finger gripper with only open\u002Fclose states, a dexterous hand adapts to objects and tools of arbitrary shape, making it the key component for ",[25,26,28],"a",{"href":27},"\u002Fen\u002Frobots\u002Fhumanoid-robot","humanoid robots"," moving toward general-purpose manipulation.",[31,32,34],"h2",{"id":33},"degrees-of-freedom-underactuated-vs-fully-actuated","Degrees of Freedom: Underactuated vs Fully Actuated",[16,36,37,38,42],{},"The human hand has roughly 20+ ",[25,39,41],{"href":40},"\u002Fen\u002Fglossary\u002Fdegrees-of-freedom","degrees of freedom","; dexterous-hand design trades off human-likeness against engineering reliability:",[44,45,46,53],"ul",{},[47,48,49,52],"li",{},[20,50,51],{},"Underactuated (about 6-12 actively driven DOF)",": fewer motors than joints, with multiple joints coupled to one drive and mechanical compliance conforming to the object. Lower cost, higher reliability, covers most grasping tasks;",[47,54,55,58],{},[20,56,57],{},"Fully actuated (20+ DOF)",": every joint independently controlled, enabling in-hand manipulation and other demanding skills — at the price of complexity, cost, and maintenance, so mostly found on research platforms.",[31,60,62],{"id":61},"actuation-approaches","Actuation Approaches",[44,64,65,71,77],{},[47,66,67,70],{},[20,68,69],{},"Coreless-motor direct\u002Fgeared drive",": exploits the power density of coreless motors to fit actuators inside fingers or the palm — fast response, compact structure;",[47,72,73,76],{},[20,74,75],{},"Tendon drive",": motors sit in the forearm and pull fingers via tendons (like human anatomy), keeping the hand light, but friction and cable elasticity introduce control error;",[47,78,79,82],{},[20,80,81],{},"Linkage drive",": rigid linkages transmit motion with good precision and stiffness, at some cost in DOF layout flexibility.",[31,84,86],{"id":85},"role-in-humanoid-robotics","Role in Humanoid Robotics",[16,88,89,90,94,95,99],{},"The dexterous hand defines what work a humanoid can actually do. In ",[25,91,93],{"href":92},"\u002Fen\u002Fglossary\u002Fembodied-ai","embodied AI"," research, dexterous manipulation data is mostly collected through ",[25,96,98],{"href":97},"\u002Fen\u002Fglossary\u002Fteleoperation","teleoperation"," — data gloves, exoskeletons, VR — to train imitation-learning policies. More hand DOF means a larger learnable task space, but also harder data collection and control, which is why most deployments today still start from grippers or underactuated hands.",{"title":101,"searchDepth":102,"depth":102,"links":103},"",2,[104,105,106],{"id":33,"depth":102,"text":34},{"id":61,"depth":102,"text":62},{"id":85,"depth":102,"text":86},"A dexterous hand is a multi-DOF robotic end-effector modeled on the human hand for grasping, tool use, and fine manipulation.","md","dexterous hand, multi-fingered robot hand, degrees of freedom, humanoid end-effector, robotic manipulation",{},true,"\u002Fglossary\u002Fen\u002Fdexterous-hand",{"title":5,"description":107},"glossary\u002Fen\u002Fdexterous-hand",null,"z0IGnrbN_DbM3ljry8hdynab2_Dkt4l3k11TDXAHEWg",1785156467126]