# Finger Unit Design for Hybrid-Driven Dexterous Hands

## TL;DR

This paper introduces a new design for robot fingers that can move more like human fingers, improving robot hand performance.

## Contribution

A novel hybrid-driven index finger unit is proposed to achieve 3-DOF anthropomorphic motion with simplified manufacturing.

## Key findings

- The hybrid-driven design successfully realizes 3-DOF anthropomorphic motion.
- The design simplifies manufacturing and enhances parameter optimization flexibility.
- Validation confirms improved operational force and motion dynamics.

## Abstract

Dexterous hands are the core end-effectors of humanoid robots, and their design is a key research focus in this field. With multiple independent finger units, the units’ dexterity directly determines the hand’s operational performance, yet achieving three-degree-of-freedom (3-DOF) anthropomorphic motion remains a key design challenge. To address this, this paper proposes a hybrid-driven index finger unit: combining linkage and tendon–cable drive advantages to realize 3-DOF anthropomorphic motion, and adopting independent drive/transmission modules to simplify manufacturing and boost parameter optimization flexibility. Validated via motion dynamics, DOF, and operational force assessments, this design offers key unit tech for dexterous hand development and serves as a reference for optimizing multi-DOF anthropomorphic finger designs.