Customize-Your-Joy Hand: A User-Oriented, Cost-Effective 22-DOF Platform for Future Human-Robot Community

Abstract

Humanoid dexterous hands have significant potential in prosthetics, service robotics, and high-performance manipulation. However, existing designs often struggle to balance the challenging requirements of lightweight design, high biomimicry, personalized customization, and low cost. To address these challenges, we present the CYJ Hand (Customize-Your-Joy Hand), an innovative 22-DOF humanoid dexterous hand. Featuring a highly biomimetic structure, the CYJ system weighs only 750 grams (forearm included). Its modular design supports user-oriented customization while simplifying assembly, maintenance, and functional expansion. Inspired by Da Vinci' s mechanics, the CYJ Hand integrates a novel, controllable tendon mechanism that allows for reconfigurable tendon routing and actuation system to meet diverse needs. Constructed with 3D printing and affordable commercial materials, the hardware cost for the CYJ Hand structure (excluding actuators) is under 60. Experimental results demonstrate that the CYJ Hand achieves a 100% success rate in both the Kapandji Test and GRASP taxonomy, and further exhibits dynamic grasping, in-hand manipulation, sub-millimeter motion repeatability (~0.7 mm), and reliable load-bearing performance, validating its exceptional dexterity and biomimetic design. With its comprehensive advantages and innovations, the CYJ Hand provides a versatile platform for the future applications and research in personalized prosthetics and dexterous robotic manipulation, bridging the gap between high dexterity and accessibility in humanoid robotics. Related files and methods are open-sourced at GitHub repository.