{"id":"https://openalex.org/W7164997211","doi":"https://doi.org/10.48550/arxiv.2606.17418","title":"DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity","display_name":"DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity","publication_year":2026,"publication_date":"2026-06-16","ids":{"openalex":"https://openalex.org/W7164997211","doi":"https://doi.org/10.48550/arxiv.2606.17418"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.17418","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17418","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.2606.17418","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/A5138812341","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/A5138823437","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/A5138792828","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":"middle","author":{"id":"https://openalex.org/A5138775835","display_name":"Jihao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138801512","display_name":"Jianshu Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jianshu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5016175741","display_name":"Huixu Dong","orcid":"https://orcid.org/0000-0002-2582-6728"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Huixu","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":0.7035999894142151,"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":0.7035999894142151,"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":0.0868000015616417,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.049800001084804535,"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/grasp","display_name":"GRASP","score":0.6819000244140625},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5098000168800354},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.504800021648407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49239999055862427},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4334999918937683},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.424699991941452},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.39879998564720154},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.39809998869895935},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.37229999899864197}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6819000244140625},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5098000168800354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5058000087738037},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.504800021648407},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5026999711990356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4957999885082245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49239999055862427},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4334999918937683},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.424699991941452},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.39879998564720154},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.39809998869895935},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3725000023841858},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.37229999899864197},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.3495999872684479},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3402999937534332},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3395000100135803},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33090001344680786},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.32420000433921814},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28940001130104065},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C19527686","wikidata":"https://www.wikidata.org/wiki/Q1665453","display_name":"System integration","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26669999957084656},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2630000114440918},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.17418","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17418","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.2606.17418","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17418","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":0.5927655100822449,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dexterous":[0],"robotic":[1],"hands":[2],"face":[3],"a":[4,33,68,78,88,137,169],"longstanding":[5],"trade-off":[6],"among":[7],"dexterity,":[8,42],"compactness,":[9],"and":[10,19,45,62,94,107,121,131,161,165,175,187,195],"affordability.":[11],"Particularly,":[12],"high-degree-of-freedom":[13],"designs":[14],"typically":[15],"demand":[16],"complex":[17],"actuation":[18],"transmission,":[20],"hindering":[21],"integration":[22,127],"into":[23],"human-scale":[24],"forms.":[25],"To":[26,84],"address":[27],"these":[28,86,129],"challenges,":[29],"this":[30],"work":[31],"presents":[32],"compact,":[34,186],"low-cost":[35],"linkage-driven":[36],"anthropomorphic":[37,142],"hand":[38,49,149,182],"that":[39,147],"achieves":[40,136,150],"high":[41,108],"structural":[43,132],"integration,":[44],"human-hand-like":[46],"functionality.":[47],"The":[48,71,112],"integrates":[50],"20":[51],"joints":[52],"driven":[53],"by":[54],"16":[55],"independent":[56],"actuators,":[57],"with":[58,141],"all":[59,156],"actuation,":[60],"sensing,":[61],"transmission":[63],"components":[64],"compactly":[65],"embedded":[66],"within":[67],"human-hand-sized":[69],"structure.":[70],"resulting":[72],"prototype":[73,135],"weighs":[74],"only":[75],"320g":[76],"at":[77],"total":[79],"cost":[80],"below":[81],"USD":[82],"400.":[83],"meet":[85],"objectives,":[87],"hybrid":[89],"mechanical":[90],"architecture":[91],"combining":[92],"planar":[93],"spatial":[95],"linkage":[96],"mechanisms":[97,130],"is":[98],"proposed,":[99],"enabling":[100],"decoupled":[101],"multidirectional":[102],"motion,":[103],"biomimetic":[104,116],"joint":[105],"synergies,":[106],"passive":[109],"load-bearing":[110],"capability.":[111],"thumb":[113],"further":[114],"incorporates":[115],"features":[117],"supporting":[118],"human-like":[119],"reconfiguration":[120],"opposition":[122],"movements.":[123],"Through":[124],"the":[125,134,148,151,180],"coordinated":[126],"of":[128,172],"layout,":[133],"highly":[138],"integrated":[139],"design":[140],"dexterity.":[143],"Experimental":[144],"evaluations":[145],"demonstrate":[146],"maximum":[152],"Kapandji":[153],"score,":[154],"reproduces":[155],"33":[157],"Feix":[158],"grasp":[159],"types,":[160],"performs":[162],"stable":[163],"grasping":[164],"dexterous":[166,192],"manipulation":[167],"across":[168],"wide":[170],"variety":[171],"daily":[173],"objects":[174],"tools.":[176],"These":[177],"results":[178],"validate":[179],"proposed":[181],"as":[183],"an":[184],"affordable,":[185],"mechanically":[188],"efficient":[189],"platform":[190],"for":[191],"manipulation,":[193],"teleoperation,":[194],"robot":[196],"learning":[197],"in":[198],"human-centered":[199],"environments.":[200]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-18T00:00:00"}