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A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand — arXiv:2609.22681

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.22681
License (as archived): CC0-1.0
Archived: 2026-10-09T22:23:32.754Z
SHA-256 of the archived text: d1c1146a52daaa5c46cf6c35d50ddcdd69c5ccae8268cb92555278230e2f0252
Stable URL of this page: https://metraipolis.com/documento/dc_a2fdb0aa4e63

How to cite

A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand — arXiv:2609.22681 — arXiv (en), https://arxiv.org/abs/2609.22681 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_a2fdb0aa4e63 (Metraipolis archive dc_a2fdb0aa4e63, sha256 d1c1146a52daaa5c46cf6c35d50ddcdd69c5ccae8268cb92555278230e2f0252)

BibTeX

@misc{dca2fdb0aa4e63,
  title = {A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand — arXiv:2609.22681},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.22681},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_a2fdb0aa4e63; sha256 d1c1146a52daaa5c46cf6c35d50ddcdd69c5ccae8268cb92555278230e2f0252},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.22681. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Dexterous manipulation in confined spaces requires local control of hand orientation. Without a wrist, a dexterous hand must obtain this local orientation through coordinated motion of the robot arm, often involving several joints and a more complex end-effector path. We present CRAFT-Wrist, a concentric 2-DoF wrist extension that mounts between a robot arm and the CRAFT Hand without modifying the hand. Two XC430-T240BB-T servos drive sideways and front-back rotation through short rigid transmissions. Our initial hardware prototype actuates both axes under load, achieving a demonstrated workspace of $\pm20^{\circ}$ in radial--ulnar deviation (left--right) and a front-back range of $+80^{\circ}$ in flexion and $-18^{\circ}$ in extension. We characterize the resulting finger-motor loading across several wrist postures and demonstrate how the wrist supplies local orientation in grasping, nail hammering, and blackboard wiping. Demonstrations and assembly instructions are available at this https URL .

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-22 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.22681 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-09T21:59:59.461Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-22?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).