A 21-DOF Humanoid Dexterous Hand with Hybrid SMA-Motor Actuation: CYJ Hand-0

TL;DR

This paper introduces CYJ Hand-0, a 21-DOF humanoid hand with a hybrid SMA-motor actuation system, combining 3D-printed components and biomimetic design to achieve dexterity.

Contribution

It presents a novel hybrid actuation system integrating SMAs and motors in a 3D-printed humanoid hand for improved dexterity.

Findings

Successful mechanical and kinematic validation

Effective biomimetic finger movement

Compact hybrid actuation unit demonstrated

Abstract

CYJ Hand-0 is a 21-DOF humanoid dexterous hand featuring a hybrid tendon-driven actuation system that combines shape memory alloys (SMAs) and DC motors. The hand employs high-strength fishing line as artificial tendons and uses a fully 3D-printed AlSi10Mg metal frame designed to replicate the skeletal and tendon-muscle structure of the human hand. A linear motor-driven module controls finger flexion, while an SMA-based module enables finger extension and lateral abduction. These modules are integrated into a compact hybrid actuation unit mounted on a custom rear support structure. Mechanical and kinematic experiments, conducted under an Arduino Mega 2560-based control system, validate the effectiveness of the design and demonstrate its biomimetic dexterity.