Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning
Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are…
We haven't written up this one. arXiv cs.AI has the full story — the link below goes straight to it.
