# Cartesian Hand：使用全线性手指的手内操作

> 原文链接：https://robotics.hellobike.com/papers/2026-09-22-2609-25696
> 频道：papers | 更新日期：2026-09-22 | 标签：arxiv, cs.RO
> 核心摘要：提出Cartesian Hand，以全线性7自由度末端执行器实现手内操作，并在35个跨场景物体及人形机器人上验证。

# Cartesian Hand：使用全线性手指的手内操作

::: v-pre
> 原文链接：[The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers](https://arxiv.org/abs/2609.25696)（arXiv 2609.25696 · 发布日期：2026-09-22）

**The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers**

提出Cartesian Hand，以全线性7自由度末端执行器实现手内操作，并在35个跨场景物体及人形机器人上验证。

## 核心要点

- 灵巧手能力强但机械与控制复杂，平行夹爪简单却难以在抓取后继续操作物体。
- 该端执行器用两个独立平行夹爪抓持不同部位，四个平移指尖产生相对运动。
- 方法适用于螺纹、转轴、线性导轨、柱塞和扳机等常见机构结构的物体。
- 展示开合瓶盖、移液、泵送、双把手操作等任务，并计划开源软硬件设计。

**验证范围与局限**：验证范围为35个实验室、制造和家庭物体，平台包括固定基座机械臂与人形机器人。

## 英文摘要 (Abstract)

Robotic manipulation has increasingly pursued human-like dexterous hands with many articulated degrees of freedom, offering rich manipulation capabilities at the cost of mechanical and control complexity. At the other extreme, parallel grippers are simple and robust, but provide little ability to manipulate an object after grasping it. Operating articulated objects such as threaded containers, manufacturing tools, and laboratory instruments often requires a second gripper, an external fixture, or coordinated arm motion. We introduce the Cartesian Hand, a 7-DoF end-effector that rethinks dexterous manipulation by combining independent grasping and relative manipulation within a single end-effector using only linear motion. Two independently actuated parallel grippers hold different parts of an object, while four translating fingertips generate relative motion between the grasped parts. Its configuration-independent fingertip kinematics allow manipulation to be composed from simple linear motion primitives. The Cartesian Hand is particularly suited to objects structured around common mechanisms such as threads, pivots, linear guides, plungers, and triggers. We demonstrate cap opening and closing, pipetting, pumping, two-handle manipulation, screwdriving, trigger actuation, and in-grasp reorientation across 35 objects spanning laboratory, manufacturing, and household settings. The same manipulation procedures transfer from a fixed-base robot arm to a humanoid, where we demonstrate bimanual laboratory manipulation using two Cartesian Hands. These results show that versatile in-hand manipulation capability can emerge from a mechanically simple architecture when independent grasping and relative motion are designed directly into the end-effector. We will open-source all software and hardware design. Our website is https://generalroboticslab.com/cartesian_handv1.

作者：Boxi Xia, Bokuan Li, Ryan Shin, Zijiang Yang, Jiaxun Liu, Boyuan Chen
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## 原始参考来源 (Sources)

- [arXiv 2609.25696：The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers](https://arxiv.org/abs/2609.25696)