Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis.

翻译：生物协同已成为灵巧手设计中被广泛采用的范式，能够以少量驱动器实现类人操作。然而，过度的耦合往往会降低灵巧手的灵活性。本文通过提出一种由2个驱动器驱动的4自由度拟人手指拓扑结构，并基于此拓扑结构开发自适应模块化灵巧手，以解决驱动复杂度与灵巧性之间的权衡问题。我们探究了手部协同的生物基础与人类手势分析，将关节级协调与结构特性转化为模块化手指架构。利用这些仿生映射，我们设计了一款五指模块化灵巧手，并建立其运动学模型以分析自适应抓取与手内操作。最后，我们构建了物理样机并进行初步实验，验证了所提设计与分析方法的有效性。