High-DOF dexterous hands require compact actuation, rich sensing, and reliable thermal behavior, but conventional designs often occupy valuable in-hand space, increase end-effector mass, and suffer from heat accumulation near the hand. Remote tendon-driven actuation offers an alternative by relocating motors to the robot base or an external motor hub, thereby freeing the fingers and palm for additional degrees of freedom, sensing modules, and maintainable mechanical structures. This paper presents MM-Hand, a 21-DOF Multimodal Modular dexterous hand based on remote tendon-driven actuation. The hand integrates spring-return tendon-driven fingers, modular 3D-printed finger and palm structures, quick tendon connectors for maintenance, and a multimodal sensing system including joint angle sensors, tactile sensors, motor-side feedback, and in-palm stereo vision. We further analyze tendon-sheath length variation and friction loss to guide the design of the routing, motor hub, and closed-loop joint control. Experiments validate the transmission, output force, sensing, and control capability of the system. The fingertip force reaches 25N under a 1m remote sheath transmission, demonstrating practical load capacity despite long-distance tendon routing. Closed-loop joint-level experiments further evaluate command tracking with a static arm and during arm motion. These results show that MM-Hand provides a lightweight, sensor-rich, and maintainable hardware platform for dexterous manipulation research. To support the community, all hardware designs and software frameworks are made fully open-source at https://mmlab.hk/research/MM-Hand.

翻译：高自由度灵巧手需要紧凑的驱动机构、丰富的感知能力及可靠的热管理特性，但传统设计常占据宝贵的掌内空间、增加末端执行器质量，并因手部热积累问题而受限。远程腱驱动方案通过将电机转移至机器人基座或外部电机集线器，使得手指与手掌得以解放，从而容纳更多自由度、传感模块及可维护的机械结构。本文提出MM-Hand——一种基于远程腱驱动的21自由度多模态模块化灵巧手。该手集成了弹簧复位腱驱动手指、模块化3D打印手指与手掌结构、便于维护的快拆腱连接器，以及包括关节角度传感器、触觉传感器、电机侧反馈与掌内立体视觉的多模态感知系统。我们进一步分析了腱-鞘长度变化与摩擦损耗，以指导路径规划、电机集线器设计及闭环关节控制。实验验证了系统的传动性能、输出力、感知及控制能力。在1米远程鞘管传动下，指尖力可达25N，证明了长距离腱路径仍具备实用负载能力。闭环关节级实验进一步评估了静态手臂及运动过程中的指令跟踪性能。结果表明，MM-Hand为灵巧操作研究提供了轻量化、多传感且易维护的硬件平台。为支持社区发展，所有硬件设计与软件框架已完全开源：https://mmlab.hk/research/MM-Hand。