{"paper":{"title":"PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AR"],"primary_cat":"cs.RO","authors_text":"Haoyang Li, Yibo Wen, Yiheng Xu, Yixiang Fan, Yufeng Yue","submitted_at":"2026-06-23T10:09:02Z","abstract_excerpt":"Compliant joints can embed safety and adaptability into dexterous hands, but achieving large-stroke anthropomorphic motion while maintaining joint-specific, directiondependent stiffness and reliable proprioception remains challenging. This paper presents the PDS joint, a parametric doublespiral (PDS) compliant joint that enables systematic shaping of directional stiffness across multiple deformation modes, including flexion/extension, abduction/adduction, and pronation/supination. We instantiate the joint using Archimedean and logarithmic spiral templates for different hand joints and introduc"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24377","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/2606.24377/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"}