{"id":"https://openalex.org/W7164835144","doi":"https://doi.org/10.48550/arxiv.2606.14250","title":"SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity","display_name":"SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity","publication_year":2026,"publication_date":"2026-06-12","ids":{"openalex":"https://openalex.org/W7164835144","doi":"https://doi.org/10.48550/arxiv.2606.14250"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.14250","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.14250","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.14250","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113485823","display_name":"H. Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138673481","display_name":"Yanzhe Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yanzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138683993","display_name":"Yu Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138637772","display_name":"Yitong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yitong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100316412","display_name":"Jingxiang Guo","orcid":"https://orcid.org/0009-0009-2314-6911"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Jingxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138660414","display_name":"Jian Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138659502","display_name":"Jianshu Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jianshu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":0.46219998598098755,"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":0.46219998598098755,"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":0.3012000024318695,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.04039999842643738,"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/kinematics","display_name":"Kinematics","score":0.8601999878883362},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5529000163078308},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4602000117301941},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4429999887943268},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.41350001096725464},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.373199999332428},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3716999888420105},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.35350000858306885}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8601999878883362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5773000121116638},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5529000163078308},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4602000117301941},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4429999887943268},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42170000076293945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41920000314712524},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.3488999903202057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3443000018596649},{"id":"https://openalex.org/C64635419","wikidata":"https://www.wikidata.org/wiki/Q5508837","display_name":"Functional movement","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.335999995470047},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.33559998869895935},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.3287999927997589},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.2833000123500824},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.2732999920845032},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2662999927997589}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.14250","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.14250","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.14250","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.14250","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5131664276123047,"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":{"Designing":[0],"anthropomorphic":[1,27],"robotic":[2,194],"hands":[3],"that":[4,30,173],"balance":[5],"functional":[6,81,184],"dexterity":[7],"with":[8,35,140],"mechanical":[9,181],"simplicity":[10],"remains":[11],"a":[12,41,52,78,126,141,147],"significant":[13],"challenge.":[14],"Inspired":[15],"by":[16,86,137],"human":[17],"hand":[18,29,61,72],"synergies,":[19],"this":[20],"paper":[21],"presents":[22],"the":[23,75,122,174],"SyLink":[24],"Hand,":[25],"an":[26],"dexterous":[28],"integrates":[31,133],"biomechanical":[32],"synergy":[33],"principles":[34],"linkage-driven":[36],"transmission":[37],"mechanisms":[38,92],"to":[39,95,113],"achieve":[40,114],"high":[42,161],"degree":[43],"of":[44,59,144,150],"anthropomorphism":[45],"in":[46,192],"appearance,":[47],"kinematics,":[48],"and":[49,54,100,118,146,164,167,183],"functionality":[50],"within":[51,125],"compact":[53,127],"cost-effective":[55],"architecture.":[56],"Biomechanical":[57],"analysis":[58],"natural":[60,102],"motions":[62,99],"using":[63],"motion":[64],"capture":[65],"gloves":[66],"reveals":[67],"strong":[68],"kinematic":[69,159],"correlations":[70],"among":[71],"joints,":[73],"providing":[74],"basis":[76],"for":[77,189],"simplified":[79],"yet":[80],"degree-of-freedom":[82],"(DOF)":[83],"configuration.":[84],"Guided":[85],"these":[87],"synergistic":[88],"characteristics,":[89],"optimized":[90],"linkage":[91,109],"are":[93],"employed":[94],"coordinate":[96],"multiple":[97],"joint":[98,124],"reproduce":[101],"finger":[103],"trajectories.":[104],"A":[105],"novel":[106],"spherical":[107],"four-bar":[108],"is":[110],"further":[111],"proposed":[112],"decoupled":[115],"flexion/extension":[116],"(Flex/Ext)":[117],"abduction/adduction":[119],"(Abd/Add)":[120],"at":[121],"metacarpophalangeal":[123],"form":[128],"factor.":[129],"The":[130],"resulting":[131],"prototype":[132],"19":[134],"joints":[135],"driven":[136],"11":[138],"actuators,":[139],"total":[142],"mass":[143],"520g":[145],"manufacturing":[148],"cost":[149],"approximately":[151],"USD":[152],"400.":[153],"Experimental":[154],"evaluations":[155],"demonstrate":[156],"its":[157,187],"human-like":[158],"performance,":[160],"load-bearing":[162],"capability,":[163],"versatile":[165],"grasping":[166],"manipulation":[168],"skills.":[169],"These":[170],"results":[171],"validate":[172],"synergy-inspired,":[175],"linkage-based":[176],"design":[177],"effectively":[178],"balances":[179],"anthropomorphism,":[180],"simplicity,":[182],"versatility,":[185],"highlighting":[186],"potential":[188],"practical":[190],"deployment":[191],"dexterity-demanding":[193],"applications.":[195]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-16T00:00:00"}