RIM Hand : A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Supported Skeletal Structure

• URL: http://arxiv.org/abs/2601.13737v1
• Date: Tue, 20 Jan 2026 08:48:04 GMT
• Title: RIM Hand : A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Supported Skeletal Structure
• Abstract summary: The RIM Hand is a biomimetic robotic hand that precisely replicates the carpal carpometacarpal joints.<n>By modeling the full-to-metacarpal anatomy, the design enables realistic palm deformation through tendon-driven fingers.<n>A flexible silicone skin further increases contact friction and contact area, enabling stable grasps for diverse objects.
• Score: 5.931460902786287
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents the flexible RIM Hand, a biomimetic robotic hand that precisely replicates the carpometacarpal (CMC) joints and employs superelastic Nitinol wires throughout its skeletal framework. By modeling the full carpal-to-metacarpal anatomy, the design enables realistic palm deformation through tendon-driven fingers while enhancing joint restoration and supports skeletal structure with Nitinol-based dorsal extensors. A flexible silicone skin further increases contact friction and contact area, enabling stable grasps for diverse objects. Experiments show that the palm can deform up to 28%, matching human hand flexibility, while achieving more than twice the payload capacity and three times the contact area compared to a rigid palm design. The RIM Hand thus offers improved dexterity, compliance, and anthropomorphism, making it promising for prosthetic and service-robot applications.

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