mlsanityData to 14 Oct 2026

CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

arXiv 2603.12120 ↗First posted 12 Mar 2026cs.RO cs.AI cs.CVcited by 0

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Abstract (arXiv)

We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the hand. Impacts concentrate at joints, while links carry most of the load. CRAFT places soft material at joints and keeps links rigid, and uses rollingcontact joint surfaces to keep flexion on repeatable motion paths. Fifteen motors mounted on the fingers drive the hand through tendons, keeping the form factor compact and the fingers light. In structural tests, CRAFT improves strength and endurance while maintaining comparable repeatability. In teleoperation, CRAFT improves handling of fragile and low-friction items, and the hand covers 33/33 grasps in the Feix taxonomy. The full design costs under 600 and will be released open-source with visionbased teleoperation and simulation integration. Project page: http://craft-hand.github.io/

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 23 of its 46 references that are in the map. First posted on arXiv 12 Mar 2026.

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23 of 46 references.

References · 23

  1. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  2. 2018Learning Dexterous In-Hand Manipulationcited by 687
  3. 2023Reconstructing Hands in 3D with Transformerscited by 306
  4. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 228
  5. 2023Affordances from Human Videos as a Versatile Representation for Roboticscited by 226
  6. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 175
  7. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 118
  8. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 101
  9. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 101
  10. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 82
  11. 2023LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learningcited by 79
  12. 2020FrankMocap: Fast Monocular 3D Hand and Body Motion Capture by Regression and Integrationcited by 73
11 more
  1. 2025Masquerade: Learning from In-the-wild Human Videos using Data-Editingcited by 43
  2. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 38
  3. 2025ViPRA: Video Prediction for Robot Actionscited by 26
  4. 2025MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videoscited by 20
  5. 2025Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrationscited by 19
  6. 2023Adaptive Coordination in Social Embodied Rearrangementcited by 14
  7. 2025ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learningcited by 12
  8. 2023Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Jointscited by 9
  9. 2025RUKA: Rethinking the Design of Humanoid Hands with Learningcited by 8
  10. 2023Designing Anthropomorphic Soft Hands through Interactioncited by 4
  11. 2022BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergiescited by 1

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