# A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation

arXiv: https://arxiv.org/abs/2608.25547 · HTML: https://mlsanity.com/paper/2608.25547/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 12 references that are in the map.
- First posted on arXiv 26 Aug 2026.

## Builds on (most cited first, 2 of 2)

- [Learning Dexterous In-Hand Manipulation](https://mlsanity.com/paper/1808.00177/) (2018)
- [Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning](https://mlsanity.com/paper/2410.21845/) (2024)

## Abstract (arXiv)

To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.