Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuation and transmission, hindering integration into human-scale forms. To address these challenges, this work presents a compact, low-cost linkage-driven anthropomorphic hand that achieves high dexterity, structural integration, and human-hand-like functionality. The hand integrates 20 joints driven by 16 independent actuators, with all actuation, sensing, and transmission components compactly embedded within a human-hand-sized structure. The resulting prototype weighs only 320g at a total cost below USD 400. To meet these objectives, a hybrid mechanical architecture combining planar and spatial linkage mechanisms is proposed, enabling decoupled multidirectional motion, biomimetic joint synergies, and high passive load-bearing capability. The thumb further incorporates biomimetic features supporting human-like reconfiguration and opposition movements. Through the coordinated integration of these mechanisms and structural layout, the prototype achieves a highly integrated design with anthropomorphic dexterity. Experimental evaluations demonstrate that the hand achieves the maximum Kapandji score, reproduces all 33 Feix grasp types, and performs stable grasping and dexterous manipulation across a wide variety of daily objects and tools. These results validate the proposed hand as an affordable, compact, and mechanically efficient platform for dexterous manipulation, teleoperation, and robot learning in human-centered environments.

翻译：灵巧机器人手部长期面临灵巧性、紧凑性与经济性之间的权衡。特别是高自由度设计通常需要复杂的驱动与传动系统，阻碍了其与人形尺度的融合。为解决这些挑战，本文提出一种紧凑、低成本的连杆驱动仿人手部，实现了高灵巧性、结构集成与类人功能。该手部集成了20个关节，由16个独立执行器驱动，所有驱动、传感与传动组件均紧凑嵌入人形尺寸结构内。所研制样机仅重320克，总成本低于400美元。为实现上述目标，本文提出一种结合平面与空间连杆机构的混合机械架构，实现了解耦多向运动、仿生关节协同以及高被动承载能力。拇指进一步集成仿生特征，支持类人重构与对掌运动。通过上述机构与结构布局的协调集成，样机实现了具有仿生灵巧性的高度集成化设计。实验评估表明：该手部获得最大Kapandji评分，复现全部33种Feix抓取类型，并在多种日常物品与工具上实现稳定抓取与灵巧操作。这些结果验证了所提手部可作为面向人机共融环境中灵巧操作、遥操作与机器人学习的低成本、紧凑且机械高效平台。