← Back to Benchmarks
simmediumroboticsmetric · varies
A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
Description
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic actuators offer a promising alternative. This paper presents the design, control, and evaluation of a novel musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators, specifically optimized for safe manipulation. By relocating t