Toward human-compatible compliant manipulation with an anthropomorphic dexterous hand

Abstract

Achieving human-like compliant manipulation remains a fundamental challenge in robot hands due to the difficulty of realizing biomechanical compatibility, compliant interaction, and dexterous operation. To address this, we propose a human-compatible anthropomorphic dexterous hand inspired by the anatomical structure and coordinated motion of the human hand. The design integrates anatomical morphology, joint coordination, and compliant manipulation through a rigid-soft synergistic architecture with a cable-driven mechanism. Flexible thermoplastic polyurethane elastomers and cables emulate human ligaments and tendons, while rigid linkage mechanisms reproduce the skeletal support and motion transmission functions of the phalanges. A hierarchical modular architecture with separated and nested skeleton-shell structures enables compact integration of the palm and fingers. The proposed hand possesses 16 degrees of freedoms (DOFs), including a biomimetic 4-DOF thumb that reproduces thumb opposition and coordinated manipulation. Synchronous coupled control of the interphalangeal and metacarpophalangeal joints enables independent control of 7 DOFs. Kinematic simulations and finite element analysis verify the motion feasibility and structural reliability of the design. Furthermore, a human-inspired neural control strategy is introduced to achieve compliant motion control and adaptive regulation, enhancing compliant interaction and human–machine compatibility. Prototype experiments demonstrate stable grasping performance, compliant interaction, and effective manipulation across tasks of varying complexity and precision. This work establishes an integrated biomechanical and neural-inspired design framework for anthropomorphic dexterous hands, providing a promising approach for human-compatible compliant manipulation and next-generation robotic hands.