RUKA: Rethinking the Design of Humanoid Hands with Learning

a year ago

Dexterous manipulation is a fundamental capability for robotic systems, but progress has been limited by hardware trade-offs.
RUKA is a tendon-driven humanoid hand that is compact, affordable, and capable, made from 3D-printed parts and off-the-shelf components.
RUKA features 5 fingers with 15 underactuated degrees of freedom, enabling diverse human-like grasps.
The hand's tendon-driven actuation allows powerful grasping in a compact, human-sized form factor.
Control challenges are addressed by learning joint-to-actuator and fingertip-to-actuator models from motion-capture data collected by the MANUS glove.
Extensive evaluations show RUKA's superior reachability, durability, and strength compared to other robotic hands.
Tele-operation tasks demonstrate RUKA's dexterous movements.
The open-source design, assembly instructions, code, and data for RUKA are available on the project's website.

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