{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/bidexhand-design-and-evaluation-of-an-open","title":"BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand","arxiv_id":"2504.14712","date":"2025-04-20","proceeding":null,"authors":["Zhengyang Kris Weng"],"abstract":"Achieving human-level dexterity in robotic hands remains a fundamental challenge for enabling versatile manipulation across diverse applications. This extended abstract presents BiDexHand, a cable-driven biomimetic robotic hand that combines human-like dexterity with accessible and efficient mechanical design. The robotic hand features 16 independently actuated degrees of freedom and 5 mechanically coupled joints through novel phalange designs that replicate natural finger motion. Performance validation demonstrated success across all 33 grasp types in the GRASP Taxonomy, 9 of 11 positions in the Kapandji thumb opposition test, a measured fingertip force of 2.14\\,N, and the capability to lift a 10\\,lb weight. As an open-source platform supporting multiple control modes including vision-based teleoperation, BiDexHand aims to democratize access to advanced manipulation capabilities for the broader robotics research community.","url_abs":"https://arxiv.org/abs/2504.14712v1","url_pdf":"https://arxiv.org/pdf/2504.14712v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"bidexhand-design-and-evaluation-of-an-open","repo_url":"https://github.com/wengmister/BiDexHand","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}