Finger Unit Design for Hybrid-Driven Dexterous Hands.

Chong Deng, Wenhao Lu, Yizhou Qian, Yongjian Liu, Meng Ning, Ziheng Zhan

Abstract read

In one paragraph

Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Chong DengSchool of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.

Wenhao LuSchool of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.

Yizhou QianSchool of Mechanical, Materials and Manufacturing Engineering, University of Nottingham Ningbo China, Ningbo 315000, China.

Yongjian LiuSchool of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.

Meng NingSchool of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.

Ziheng ZhanSchool of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.

Funding

National Key R&D Program of China 2022YFD2100304National Natural Science Foundation of China 52275001National Science Foundation for Young Scientists of China 51705201

6 · The paper itself

Abstract

Dexterous hands are the core end-effectors of humanoid robots, and their design is a key research focus in this field. With multiple independent finger units, the units' dexterity directly determines the hand's operational performance, yet achieving three-degree-of-freedom (3-DOF) anthropomorphic motion remains a key design challenge. To address this, this paper proposes a hybrid-driven index finger unit: combining linkage and tendon-cable drive advantages to realize 3-DOF anthropomorphic motion, and adopting independent drive/transmission modules to simplify manufacturing and boost parameter optimization flexibility. Validated via motion dynamics, DOF, and operational force assessments, this design offers key unit tech for dexterous hand development and serves as a reference for optimizing multi-DOF anthropomorphic finger designs.

Indexed as

anthropomorphicdexterous single-fingered handlink-drivenpendulum-measuringtendon-driven

Identifiers

PMID41589951

DOI10.3390/biomimetics11010035

PMCPMC12839331

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.