A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators

• URL: http://arxiv.org/abs/2603.24357v1
• Date: Wed, 25 Mar 2026 14:40:49 GMT
• Title: A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
• Abstract summary: This paper presents the design, control, and evaluation of a novel musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators.<n>We functionally isolate the grasping interface from electrical hazards while maintaining a slim, human-like profile.<n>The resulting system prioritizes compliant interaction over high payload capacity, leveraging the intrinsic force-limiting characteristics of the actuators.
• Score: 7.857892801569228
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic actuators offer a promising alternative. This paper presents the design, control, and evaluation of a novel musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators, specifically optimized for safe manipulation. By relocating the actuators to the forearm, we functionally isolate the grasping interface from electrical hazards while maintaining a slim, human-like profile. To address the inherently limited linear contraction of these soft actuators, we integrate a 1:2 pulley routing mechanism that mechanically amplifies tendon displacement. The resulting system prioritizes compliant interaction over high payload capacity, leveraging the intrinsic force-limiting characteristics of the actuators to provide a high level of inherent safety. Furthermore, this physical safety is augmented by the self-sensing nature of the HASEL actuators. By simply monitoring the operating current, we achieve real-time grasp detection and closed-loop contact-aware control without relying on external force transducers or encoders. Experimental results validate the system's dexterity and inherent safety, demonstrating the successful execution of various grasp taxonomies and the non-destructive grasping of highly fragile objects, such as a paper balloon. These findings highlight a significant step toward simplified, inherently compliant soft robotic manipulation.

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