CasiaHand: Design and Evaluation of a 15-DoF Tendon-Driven Anthropomorphic Robotic Hand
Dashun Yan, Peng Wang, Tianyi Zhang, Xiwei Wang, Yinglu Wang, Zhenghan Wang, Yongkang Luo, Yayu Huang
Abstract
Anthropomorphic dexterous hands significantly enhance the manipulation capabilities of robots; however, balancing structural complexity with functional dexterity remains a major challenge. In this work, we propose the CasiaHand, a 15-DoF tendon-driven anthropomorphic dexterous hand featuring human-like dimensions and dexterity. CasiaHand features tendon-driven actuation, enabling force transmission with low structural weight. By integrating the actuation system within the palm and adopting an under-actuated architecture, CasiaHand balances structural complexity with dexterity. To verify our design, we propose a task-based hand dexterity evaluation benchmark for under-actuated hands, introducing a realistic hand-object interaction evaluation scenario. The evaluation results of CasiaHand on the proposed benchmark demonstrate that our design achieves anthropomorphic dexterity at a humanoid scale.
BibTeX
@inproceedings{ral2025_casiahanddesigna,
title = {CasiaHand: Design and Evaluation of a 15-DoF Tendon-Driven Anthropomorphic Robotic Hand},
author = {Dashun Yan and Peng Wang and Tianyi Zhang and Xiwei Wang and Yinglu Wang and Zhenghan Wang and Yongkang Luo and Yayu Huang and Guoqiang Deng},
booktitle = {RA-L 2025},
year = {2025}
}