PHANTOM Hand
Teng Yan, Jiongxu Chen, Qixiang Hua, Yue Yu, Zihang Wang, Yaohua Liu, Bingzhuo Zhong

TL;DR
The PHANTOM Hand is a modular, human-scale underactuated robotic hand that combines precise kinematic control with compliant grasping, enabling complex manipulation tasks with high accuracy and reliable force output.
Contribution
It introduces a unified framework with a mechanics-based compensation model that suppresses kinematic drift, achieving sub-degree accuracy while maintaining compliance.
Findings
Sub-degree kinematic reproducibility across workspace
Successful execution of complex hand gestures
Effective power, precision, and tool-use grasping
Abstract
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver reliable payloads for complex manipulation tasks. To address this, we introduce the PHANTOM Hand (Hybrid Precision-Augmented Compliance): a modular, 1:1 human-scale system featuring 6 actuators and 15 degrees of freedom (DoFs). We propose a unified framework that bridges the gap between precise analytic shaping and robust compliant grasping. By deriving a sparse mapping from physical geometry and integrating a mechanics-based compensation model, we effectively suppress kinematic drift caused by spring counter-tension and tendon elasticity. This approach achieves sub-degree kinematic reproducibility for free-motion planning while retaining the…
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Taxonomy
TopicsRobot Manipulation and Learning · Interactive and Immersive Displays · Motor Control and Adaptation
