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A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

In this paper, we present the Berkeley QUAD (Quasi-direct-drive, Underactuated, Asymmetric Design) Hand, a four-finger anthropomorphic robotic hand with 11 degrees of freedom and 8 degrees of actuation. The design utilizes QDD actuation at the base of each finger, enabling high force transparency for dexterous, adaptive performance. However, the low torque density of these actuators traditionally presents major issues with size, weight, and thermal limits. We overcome this by applying bio-inspired asymmetry, delegating dexterity to the radial fingers through individual QDD actuation, and stren

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-09-23T02:17:07.000Z

First collected: 2026-09-24T01:22:21.678Z. This is not the publication date.