This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism and 2 degree-of-freedom tendon-driven wrist. These four degrees-of-acuation provide active flexion and extension to the five fingers, and active flexion/extension and radial/ulnar deviation of the palm through the wrist, while preserving the synergistic and self-adaptive features of such SoftHands. A carpal tunnel-inspired tendon routing allows remote motor placement in the forearm, reducing distal inertia and maintaining a compact form factor. The SoftHand-W is mounted on a 6-axis robot arm and tested with two reorientation tasks requiring coordination between the hand and arm's pose: cube stacking and in-plane disc rotation. Results comparing task time, arm joint travel, and configuration changes with and without wrist actuation show that adding the wrist reduces compensatory and reconfiguration movements of the arm for a quicker task-completion time. Moreover, the wrist enables pick-and-place operations that would be impossible otherwise. Overall, the SoftHand Model-W demonstrates how proximal degrees of freedom are key to achieving versatile, human-like manipulation in real world robotic applications, with a compact design enabling deployment in research and assistive settings.

翻译：本文介绍了软手模型-W：一种基于比萨/意大利理工学院软手技术、采用3D打印制造的欠驱动仿人机器手，其集成了拮抗肌腱机构和2自由度肌腱驱动手腕。该系统的四个驱动自由度能为五根手指提供主动屈伸运动，并通过手腕实现手掌的主动屈伸及桡偏/尺偏运动，同时保留了软手类装置的协同自适应特性。受腕管启发的肌腱布线结构允许将电机远程安置于前臂，从而降低远端惯性并保持紧凑外形。软手-W安装在六轴机器人手臂上，通过两项需要手-臂姿态协同的重新定向任务（立方体堆叠与平面圆盘旋转）进行测试。对比有无手腕驱动时任务耗时、手臂关节行程及构型变化的结果表明：增加手腕可减少手臂的代偿性重配置运动，从而缩短任务完成时间。此外，手腕使拾放操作成为可能，而这些操作在无手腕条件下难以实现。总体而言，软手模型-W印证了近端自由度是实现真实机器人应用中多功能类人操作的关键，其紧凑设计使其适用于研究和辅助场景。