BiDexHand: Open-Source 16-DoF Biomimetic Dexterous Hand

Overview This is the open source release of the BiDexHand V4, a robotic hand featuring 16 degrees of freedom. It utilizes a cable-and-pulley system, with 15 servos arranged in N configuration to drive its 15 joints with tenden, and a 4-bar linkage driven 16th joint. Each finger provides three degrees of freedom: metacarpal (MCP) adduction/abduction, MCP flexion/extension, and proximal interphalangeal (PIP) flexion/extension. A custom four-bar linkage at the distal end of each phalanx converts the PIP motion into a coupled movement at the distal interphalangeal (DIP) joint. The thumb is designed with four degrees of freedom, including carpometacarpal (CMC) adduction/abduction and flexion/extension, as well as MCP adduction/abduction and flexion/extension. Open source release of BiDexHand. This guide will help you build your own hand and get your started on the setup. The hand is controlled through provided ROS2 packages found in /src. It provides several modes to interface with the robot - motion shadowing and servo input streaming through ROS2 topic, or direct servo input control through CLI. See packages in /src for more details.

Product Information

演示

 

规划

 

弗兰卡VR远程操作

 

引用

 

如果您发现文章对您的工作或研究有所帮助，请考虑这样的引用：

@misc{weng2025bidexhand,
    title={BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand}, 
    author={Zhengyang Kris Weng},
    year={2025},
    eprint={2504.14712},
    archivePrefix={arXiv},
    primaryClass={cs.RO},
    url={https://arxiv.org/abs/2504.14712}, 
}

我们

 

麻省理工学院