Problem
Research questions and friction points this paper is trying to address.
dexterous manipulation
confined spaces
local control
hand orientation
robot arm
A Direct Rigid Transmission 2-DoF Wrist Extension for Tendon-Driven Hand
🤖 AI Summary
为解决狭小空间内灵巧操作问题，设计了一种直接刚性传动的2自由度腕部扩展装置CRAFT-Wrist，通过两个伺服电机驱动实现手腕的侧向和前后旋转。
📝 Abstract
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 https://craft-wrist.github.io/.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Direct Rigid Transmission
2-DoF Wrist Extension
Tendon-Driven Hand
Local Orientation Control
Concentric Design
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