Antagonistic Bowden-Cable Actuation of a Lightweight Robotic Hand: Toward Dexterous Manipulation for Payload Constrained Humanoids

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Humanoid robots toward human-level dexterity require robotic hands capable of simultaneously providing high grasping force, rapid actuation speeds, multiple degrees of freedom, and lightweight structures within human-like size constraints. Meeting these conflicting requirements remains challenging, as satisfying this combination typically necessitates heavier actuators and bulkier transmission systems, significantly restricting the payload capacity of robot arms. In this letter, we present a lig

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