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Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are needed. They are also harder to learn on than a direct-drive hand. The underactuated transmission that produces the saving is itself difficult to represent in a simulator, and the joints one cable drives

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