Humanoid robots toward human-level dexterity require robotic hands capable of simultaneously providing high grasping force, rapid actuation speeds, multiple degrees of freedom, and lightweight structures within human-like size constraints. Meeting these conflicting requirements remains challenging, as satisfying this combination typically necessitates heavier actuators and bulkier transmission systems, significantly restricting the payload capacity of robot arms. In this letter, we present a lightweight anthropomorphic hand actuated by Bowden cables, which uniquely combines rolling-contact joint optimization with antagonistic cable actuation, enabling single-motor-per-joint control with negligible cable-length deviation. By relocating the actuator module to the torso, the design substantially reduces distal mass while maintaining anthropomorphic scale and dexterity. Additionally, this antagonistic cable actuation eliminates the need for synchronization between motors. Using the proposed methods, the hand assembly with a distal mass of 236g (excluding remote actuators and Bowden sheaths) demonstrated reliable execution of dexterous tasks, exceeding 18N fingertip force and lifting payloads over one hundred times its own mass. Furthermore, robustness was validated through Cutkosky taxonomy grasps and trajectory consistency under perturbed actuator-hand transformations.

翻译：为实现类人灵巧性，人形机器人需要具备在近似人类尺寸约束下，同时提供高抓握力、快速驱动速度、多自由度及轻量化结构的机械手。满足这些相互矛盾的要求仍具挑战性，因为实现这种组合通常需要更重的执行器和更庞大的传动系统，从而严重限制机器人手臂的有效载荷能力。本文提出一种采用鲍登线驱动的轻量化拟人手，其独特地将滚动接触关节优化与拮抗式线缆驱动相结合，实现了单电机独立控制关节且线缆长度偏差可忽略不计。通过将驱动模块转移至躯干，该设计在保持拟人化尺度与灵巧性的同时显著降低了末端质量。此外，这种拮抗式线缆驱动消除了电机间同步的需求。采用所提方法，末端质量为236克（不含远程执行器与鲍登护套）的手部组件能够可靠执行灵巧操作任务，指尖力超过18N，并可提升超自身质量百倍的负载。通过Cutkosky分类抓取测试及执行器-手部变换扰动下的轨迹一致性验证，进一步证明了该设计的鲁棒性。