A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0
Jin Chai, Xiang Yao, Mengfan Hou, Yanghong Li, Erbao Dong · arXiv · 2025
CYJ Hand-0 is a 21-DOF dexterous humanoid hand that uses SMA-based actuation for finger extension and lateral abduction alongside DC motor-driven flexion, validated by mechanical and kinematic experiments.
Plain English summary
Why this matters
Key findings
- A 21-DOF humanoid dexterous hand design (CYJ Hand-0) is presented with hybrid tendon-driven actuation.
- Finger flexion is controlled by a linear motor-driven module, while finger extension and lateral abduction are enabled by an SMA-based module.
- The hand uses high-strength fishing line as artificial tendons and a fully 3D-printed AlSi10Mg metal frame.
- Mechanical and kinematic experiments with an Arduino Mega 2560-based control system validate the design’s effectiveness and biomimetic dexterity.
Limitations
The abstract does not specify performance metrics (e.g., force, speed, efficiency), durability/longevity, control accuracy, or comparative benchmarking against other hand designs.
Publication
- Publisher
- arXiv
- Publication date
- July 19, 2025
- Research type
- Preprint
- arXiv
- 2507.14538
- Access
- open
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