Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a lightweight, accessible solution integrating tactile sensing with a compliant linkage-based mechanism. This paper introduces OPENGRASP LITE, an open-source, highly integrated, tactile, and lightweight artificial hand. Leveraging compliant linkage systems and MEMS barometer-based tactile sensing, it offers versatile grasping capabilities with six degrees of actuation. By providing tactile sensors and enabling soft grasping, it serves as an accessible platform for further research in tactile artificial hands.

翻译：近期研究在基于连杆的仿生手开发方面取得了显著进展。以往的设计多侧重于自适应抓取、灵巧性和仿生人工皮肤，而将触觉传感与柔性连杆机构集成的轻量化、易获取的系统方案则较为少见。本文介绍了OPENGRASP LITE，一种开源、高度集成、具备触觉感知且轻量化的仿生手。它利用柔性连杆系统和基于MEMS气压计的触觉传感技术，通过六个驱动自由度实现了多样化的抓取功能。通过提供触觉传感器并实现柔性抓取，该平台为触觉仿生手的进一步研究提供了一个易于获取的实验平台。