This paper presents the flexible RIM Hand, a biomimetic robotic hand that precisely replicates the carpometacarpal (CMC) joints and employs superelastic Nitinol wires throughout its skeletal framework. By modeling the full carpal-to-metacarpal anatomy, the design enables realistic palm deformation through tendon-driven fingers while enhancing joint restoration and supports skeletal structure with Nitinol-based dorsal extensors. A flexible silicone skin further increases contact friction and contact area, enabling stable grasps for diverse objects. Experiments show that the palm can deform up to 28%, matching human hand flexibility, while achieving more than twice the payload capacity and three times the contact area compared to a rigid palm design. The RIM Hand thus offers improved dexterity, compliance, and anthropomorphism, making it promising for prosthetic and service-robot applications.

翻译：本文提出了一种灵活的RIM Hand仿生机械手，其精确复制了腕掌（CMC）关节，并在整个骨骼框架中采用了超弹性镍钛诺线。通过模拟完整的腕骨到掌骨解剖结构，该设计通过肌腱驱动的手指实现逼真的手掌形变，同时增强了关节复位功能，并利用镍钛诺基背侧伸肌支撑骨骼结构。柔性硅胶皮肤进一步增加了接触摩擦力和接触面积，使其能够稳定抓取多种物体。实验表明，该手掌形变可达28%，与人类手掌的灵活性相匹配，同时与刚性手掌设计相比，其负载能力提升两倍以上，接触面积增加三倍。因此，RIM Hand在灵巧性、顺应性和拟人化方面均有显著提升，在假肢和服务机器人应用中展现出广阔前景。