# 采用关节特异性混合远程驱动的全驱动4自由度机器人手指设计

> 原文链接：https://robotics.hellobike.com/papers/2026-10-07-2610-10180
> 频道：papers | 更新日期：2026-10-07 | 标签：arxiv, cs.RO
> 核心摘要：提出一种关节特异性混合远程驱动的全驱动4自由度机器人手指，并通过传动、指尖力和物体姿态实验验证。

# 采用关节特异性混合远程驱动的全驱动4自由度机器人手指设计

::: v-pre
> 原文链接：[Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation](https://arxiv.org/abs/2610.10180)（arXiv 2610.10180 · 发布日期：2026-10-07）

**Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation**

提出一种关节特异性混合远程驱动的全驱动4自由度机器人手指，并通过传动、指尖力和物体姿态实验验证。

## 核心要点

- 面向4自由度机器人手指全驱动需求，设计关节特异性混合远程驱动架构。
- MCP由两组协调刚性连杆传动驱动，PIP和DIP由含RCJ的闭环线传动独立驱动。
- 通过ArUco跟踪滚珠丝杠位移，定量评估传动行为与远端传动解耦效果。
- 三种孤立驱动的平均峰值指尖力为21.28、9.22和5.75 N。

**验证范围与局限**：验证限于该机器人手指的传动行为、指尖力以及不同几何和尺寸物体上的手指姿态实验。

## 英文摘要 (Abstract)

This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordinated rigid-link transmission sets, whereas the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints are independently actuated by closed-loop wire transmissions incorporating circular rolling-contact joints (RCJs). A larger transmission radius is used at the PIP joint than at the DIP joint. The RCJ wire geometry maintains the total wire-loop length during joint rotation, and the DIP wire routing is designed so that PIP motion does not affect its differential actuation for a fixed MCP configuration. The distal wire transmission, MCP linkage, and fingertip kinematics are analytically modeled. In experiments, the transmission behavior was quantitatively evaluated from the ball-screw displacements measured using ArUco-marker tracking. MCP actuation produced measurable displacements of the PIP and DIP transmission units, whereas isolated PIP and DIP actuation with the MCP fixed supported the intended mechanical decoupling between the distal transmissions. The mean peak fingertip forces under isolated MCP, PIP, and DIP actuation were 21.28 N, 9.22 N, and 5.75 N, respectively. The resulting finger postures were also examined using objects of different geometries and sizes.

作者：Hyojae Kang, Hyun-Mok Jung, Joonho Lee, Dongil Park, Hyunmin Do, Jongwoo Park, Jeongdo Ahn
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## 原始参考来源 (Sources)

- [arXiv 2610.10180：Design of a Fully Actuated 4-DOF Robotic Finger With Joint-Specific Hybrid Remote Actuation](https://arxiv.org/abs/2610.10180)