Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theoretically well-suited for working in human domains, but their complex designs and dynamics often make them difficult to control. By contrast, parallel-jaw grippers are easy to control and are used extensively in industrial applications, but they lack the dexterity for various kinds of grasps and in-hand manipulations. In this work, we present DELTAHANDS, a synergistic dexterous hand framework with Delta robots. The DELTAHANDS are soft, easy to reconfigure, simple to manufacture with low-cost off-the-shelf materials, and possess high degrees of freedom that can be easily controlled. DELTAHANDS' dexterity can be adjusted for different applications by leveraging actuation synergies, which can further reduce the control complexity, overall cost, and energy consumption. We characterize the Delta robots' kinematics accuracy, force profiles, and workspace range to assist with hand design. Finally, we evaluate the versatility of DELTAHANDS by grasping a diverse set of objects and by using teleoperation to complete three dexterous manipulation tasks: cloth folding, cap opening, and cable arrangement. We open-source our hand framework at https://sites.google.com/view/deltahands/.

翻译：非结构化环境中的灵巧机器人操作可辅助完成清洁、看护等日常任务。仿人机械手具有高灵巧性，理论上非常适合在人类工作环境中作业，但其复杂的设计与动力学特性常导致控制困难。相比之下，平行夹爪易于控制且广泛用于工业场景，却缺乏多种抓取模式与手中操作的灵巧性。本文提出DELTAHANDS——一种基于Delta机器人的协同灵巧手框架。该手部设计柔软、易于重构、制造简单且采用低成本现成材料，同时具备易控的高自由度。通过利用驱动协同机制，DELTAHANDS的灵巧性可针对不同应用进行调整，从而进一步降低控制复杂度、整体成本与能耗。我们通过标定Delta机器人的运动学精度、力特性及工作空间范围辅助手部设计。最后，通过抓取多样化物体及遥操作完成三项灵巧操作任务（布料折叠、瓶盖拧开、线缆整理）评估DELTAHANDS的通用性。本手部框架已在https://sites.google.com/view/deltahands/ 开源。