Preparing the published article.
Joint Modules and Dexterous Hands
The two components behind humanoid capability.
Joint modules
- Integrate motor, reducer, encoder and drive into one unit.
- Judged on torque density, backlash, heat and life.
- Integration reduces assembly cost and simplifies the machine.
Hands
| Metric | Meaning |
|---|---|
| Degrees of freedom | Independently moving fingers |
| Grip force | What can be lifted reliably |
| Tactile sensing | Whether contact is felt and measured |
| Durability | Cycles before service |
Evaluating a supplier
Ask for continuous grasping success rates and maintenance cost, not just the number of degrees of freedom.