arxivcs.RO2026-07-16
MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim, Quanyou Wang, Jose Victor S. H. Ramos, Dennis Hong
Dexterous manipulation is limited not only by algorithms but by a shortage of accessible hand hardware that combines human-scale morphology, ease of manufacturing or maintenance, tactile sensing, and practical cost. Existing dexterous hands tend to optimize some of these properti…