{"id":"https://openalex.org/W7143371339","doi":"https://doi.org/10.48550/arxiv.2603.26660","title":"Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning","display_name":"Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning","publication_year":2026,"publication_date":"2026-03-27","ids":{"openalex":"https://openalex.org/W7143371339","doi":"https://doi.org/10.48550/arxiv.2603.26660"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.26660","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.26660","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.26660","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130947925","display_name":"Xinqi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xinqi Lucas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130923693","display_name":"Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Ruoxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130939293","display_name":"Ruoxi Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Olarte, Alejandro Ojeda","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Chen, Zhuoran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhuoran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130943373","display_name":"Zhuoran Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Kenny","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130975019","display_name":"Kenny Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Charles Cheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130965838","display_name":"Charles Cheng Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pinto, Lerrel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Bhirangi, Raunaq","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bhirangi, Raunaq","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Guzey, Irmak","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guzey, Irmak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8791000247001648,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8791000247001648,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.02810000069439411,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.01720000058412552,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.760699987411499},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.7171000242233276},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7008000016212463},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.6657999753952026},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5400000214576721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.498199999332428},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.45590001344680786},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45419999957084656}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.760699987411499},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.7171000242233276},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7008000016212463},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.6657999753952026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5410000085830688},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5400000214576721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5252000093460083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.498199999332428},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4745999872684479},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.45590001344680786},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45419999957084656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.414900004863739},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.38530001044273376},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3840000033378601},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3813000023365021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35089999437332153},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3495999872684479},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3458999991416931},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.3244999945163727},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.3188999891281128},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.3140000104904175},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2687000036239624},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26260000467300415},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.26660","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.26660","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.26660","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.26660","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.7171562314033508,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Lack":[0],"of":[1,32,51,82,152,185],"accessible":[2],"and":[3,38,58,92,113,125,146,154,172,191,198,213],"dexterous":[4,196],"robot":[5,188],"hardware":[6],"has":[7],"been":[8],"a":[9,23,60,101,108,166,173],"significant":[10],"bottleneck":[11],"to":[12,64],"achieving":[13],"human-level":[14],"dexterity":[15],"in":[16,130,169,176],"robots.":[17],"Last":[18],"year,":[19],"we":[20,98],"released":[21],"Ruka,":[22],"fully":[24,54,102],"open-sourced,":[25,103],"tendon-driven":[26,104],"humanoid":[27,56,105],"hand":[28,106],"with":[29],"11":[30],"degrees":[31,81],"freedom":[33,83],"-":[34,43],"2":[35],"per":[36],"finger":[37,65,93],"3":[39,203],"at":[40,115,217],"the":[41,52,72,116,150],"thumb":[42],"buildable":[44],"for":[45,85,187],"under":[46],"$1,300.":[47],"It":[48],"was":[49],"one":[50],"first":[53],"open-sourced":[55],"hands,":[57],"introduced":[59],"novel":[61],"data-driven":[62],"approach":[63],"control":[66,73],"that":[67],"captures":[68],"tendon":[69],"dynamics":[70],"within":[71],"system.":[74],"Despite":[75],"these":[76],"contributions,":[77],"Ruka":[78,158],"lacked":[79],"two":[80],"essential":[84],"closely":[86],"imitating":[87],"human":[88],"behavior:":[89],"wrist":[90,112,120],"mobility":[91],"adduction/abduction.":[94],"In":[95],"this":[96],"paper,":[97],"introduce":[99],"Ruka-v2:":[100],"featuring":[107],"decoupled":[109],"2-DOF":[110],"parallel":[111,119],"abduction/adduction":[114],"fingers.":[117],"The":[118],"adds":[121],"smooth,":[122],"independent":[123],"flexion/extension":[124],"radial/ulnar":[126],"deviation,":[127],"enabling":[128],"manipulation":[129],"confined":[131],"environments":[132],"such":[133,139],"as":[134,140],"cabinets.":[135],"Abduction":[136],"enables":[137],"motions":[138],"grasping":[141],"thin":[142],"objects,":[143],"in-hand":[144],"rotation,":[145],"calligraphy.":[147],"We":[148,179],"present":[149],"design":[151],"Ruka-v2":[153],"evaluate":[155],"it":[156],"against":[157],"through":[159],"user":[160],"studies":[161],"on":[162,202],"teleoperated":[163],"tasks,":[164,197],"finding":[165],"51.3%":[167],"reduction":[168],"completion":[170],"time":[171],"21.2%":[174],"increase":[175],"success":[177],"rate.":[178],"further":[180],"demonstrate":[181],"its":[182],"full":[183],"range":[184],"applications":[186],"learning:":[189],"bimanual":[190],"single-arm":[192],"teleoperation":[193],"across":[194],"13":[195],"autonomous":[199],"policy":[200],"learning":[201],"tasks.":[204],"All":[205],"3D":[206],"print":[207],"files,":[208],"assembly":[209],"instructions,":[210],"controller":[211],"software,":[212],"videos":[214],"are":[215],"available":[216],"https://ruka-hand-v2.github.io/":[218],".":[219]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-31T00:00:00"}
