{"paper":{"title":"MuxHand: A Cable-driven Dexterous Robotic Hand Using Time-division Multiplexing Motors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chongkun Xia, Hong Luo, Houde Liu, Jianle Xu, Shoujie Li, Wenbo Ding, Xueqian Wang","submitted_at":"2024-09-19T04:22:46Z","abstract_excerpt":"The robotic dexterous hand is responsible for both grasping and dexterous manipulation. The number of motors directly influences both the dexterity and the cost of such systems. In this paper, we present MuxHand, a robotic hand that employs a time-division multiplexing motor (TDMM) mechanism. This system allows 9 cables to be independently controlled by just 4 motors, significantly reducing cost while maintaining high dexterity. To enhance stability and smoothness during grasping and manipulation tasks, we have integrated magnetic joints into the three 3D-printed fingers. These joints offer su"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.12455","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2409.12455/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}