We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the hand. Impacts concentrate at joints, while links carry most of the load. CRAFT places soft material at joints and keeps links rigid, and uses rollingcontact joint surfaces to keep flexion on repeatable motion paths. Fifteen motors mounted on the fingers drive the hand through tendons, keeping the form factor compact and the fingers light. In structural tests, CRAFT improves strength and endurance while maintaining comparable repeatability. In teleoperation, CRAFT improves handling of fragile and low-friction items, and the hand covers 33/33 grasps in the Feix taxonomy. The full design costs under $600 and will be released open-source with visionbased teleoperation and simulation integration. Project page: http://craft-hand.github.io/

翻译：本文介绍CRAFT机械手，这是一种具有混合刚柔顺应性的腱驱动拟人机械手，适用于接触密集型操作任务。其设计基于一个简单理念：机械手各部位的接触状态并不均匀。冲击力集中于关节处，而连杆承担主要载荷。CRAFT在关节处采用柔性材料并保持连杆刚性，利用滚动接触关节面确保屈伸运动沿可重复路径进行。十五个安装在手指上的电机通过肌腱驱动机械手，实现了紧凑的外形结构和轻量化手指。在结构测试中，CRAFT在保持相当重复精度的同时显著提升了强度与耐久性。在遥操作测试中，CRAFT提升了对易碎物品与低摩擦物品的操作能力，并完整覆盖Feix分类体系中的33/33种抓取类型。整套设计成本低于600美元，将开源发布并集成视觉遥操作与仿真系统。项目页面：http://craft-hand.github.io/