Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic actuators offer a promising alternative. This paper presents the design, control, and evaluation of a novel musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators, specifically optimized for safe manipulation. By relocating the actuators to the forearm, we functionally isolate the grasping interface from electrical hazards while maintaining a slim, human-like profile. To address the inherently limited linear contraction of these soft actuators, we integrate a 1:2 pulley routing mechanism that mechanically amplifies tendon displacement. The resulting system prioritizes compliant interaction over high payload capacity, leveraging the intrinsic force-limiting characteristics of the actuators to provide a high level of inherent safety. Furthermore, this physical safety is augmented by the self-sensing nature of the HASEL actuators. By simply monitoring the operating current, we achieve real-time grasp detection and closed-loop contact-aware control without relying on external force transducers or encoders. Experimental results validate the system's dexterity and inherent safety, demonstrating the successful execution of various grasp taxonomies and the non-destructive grasping of highly fragile objects, such as a paper balloon. These findings highlight a significant step toward simplified, inherently compliant soft robotic manipulation.

翻译：非结构化环境中的机器人操作需要结合高运动灵活性以及物理柔顺性的末端执行器。传统刚性手依赖复杂的外部传感器以实现安全交互，而电液执行器提供了一种有前景的替代方案。本文介绍了一种完全由远程Peano-HASEL执行器驱动的新型肌肉骨骼机器人手架构的设计、控制与评估，该手专门针对安全操作进行了优化。通过将执行器移至前臂，我们在保持纤细、类人外形的同时，从功能上隔离了抓取界面与电气危险。为了解决这些软执行器固有的有限线性收缩问题，我们集成了一种1:2滑轮传动机构，该机构可机械放大肌腱位移。由此产生的系统优先考虑柔顺交互而非高负载能力，利用执行器固有的力限制特性提供高水平的固有安全性。此外，这种物理安全性通过HASEL执行器的自感知特性得到了增强。通过仅监测工作电流，我们在无需依赖外部力传感器或编码器的情况下，实现了实时抓取检测和闭环接触感知控制。实验结果验证了该系统的灵活性和固有安全性，展示了成功执行各种抓取分类法以及对纸气球等高度脆弱物品的无损抓取。这些发现标志着向简化、内在柔顺的软体机器人操作迈出了重要一步。