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A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation
In this paper, we present the Berkeley QUAD (Quasi-direct-drive, Underactuated, Asymmetric Design) Hand, a four-finger anthropomorphic robotic hand with 11 degrees of freedom and 8 degrees of actuation. The design utilizes QDD actuation at the base of each finger, enabling high force transparency for dexterous, adaptiv …