Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper presents the SyLink Hand, an anthropomorphic dexterous hand that integrates biomechanical synergy principles with linkage-driven transmission mechanisms to achieve a high degree of anthropomorphism in appearance, kinematics, and functionality within a compact and cost-effective architecture. Biomechanical analysis of natural hand motions using motion capture gloves reveals strong kinematic correlations among hand joints, providing the basis for a simplified yet functional degree-of-freedom (DOF) configuration. Guided by these synergistic characteristics, optimized linkage mechanisms are employed to coordinate multiple joint motions and reproduce natural finger trajectories. A novel spherical four-bar linkage is further proposed to achieve decoupled flexion/extension (Flex/Ext) and abduction/adduction (Abd/Add) at the metacarpophalangeal joint within a compact form factor. The resulting prototype integrates 19 joints driven by 11 actuators, with a total mass of 520g and a manufacturing cost of approximately USD 400. Experimental evaluations demonstrate its human-like kinematic performance, high load-bearing capability, and versatile grasping and manipulation skills. These results validate that the synergy-inspired, linkage-based design effectively balances anthropomorphism, mechanical simplicity, and functional versatility, highlighting its potential for practical deployment in dexterity-demanding robotic applications.

翻译：设计兼具功能性灵巧与机械简洁性的仿人机械手仍是重大挑战。受人类手部协同作用的启发，本文提出SyLink Hand，一种将生物力学协同原理与连杆驱动传动机制相结合的仿人灵巧手，在紧凑且成本经济的架构中实现了外观、运动学和功能性的高度拟人化。通过动作捕捉手套对自然手部运动进行生物力学分析，揭示了手部关节间的强运动学相关性，为简化且功能化的自由度构型提供了基础。基于这些协同特性，采用优化的连杆机构协调多关节运动并复现自然手指轨迹。进一步提出一种新型球面四连杆机构，以紧凑形式实现掌指关节处屈/伸与外展/内收的解耦运动。最终原型集成了由11个执行器驱动的19个关节，总质量520g，制造成本约400美元。实验评估表明，该手具有类人的运动学性能、高承载能力以及多种抓取与操作技能。这些结果验证了受协同作用启发的连杆式设计有效平衡了拟人性、机械简洁性与功能通用性，突显了其在需要灵巧操作的机器人应用中的实际部署潜力。