CasiaHand: Design and Evaluation of a 15-DoF Tendon-Driven Anthropomorphic Robotic Hand

Anthropomorphic dexterous hands significantly enhance the manipulation capabilities of robots; however, balancing structural complexity with functional dexterity remains a major challenge. In this work, we propose the CasiaHand, a 15-DoF tendon-driven anthropomorphic dexterous hand featuring human-like dimensions and dexterity. CasiaHand features tendon-driven actuation, enabling force transmission with low structural weight. By integrating the actuation system within the palm and adopting an under-actuated architecture, CasiaHand balances structural complexity with dexterity. To verify our design, we propose a task-based hand dexterity evaluation benchmark for under-actuated hands, introducing a realistic hand-object interaction evaluation scenario. The evaluation results of CasiaHand on the proposed benchmark demonstrate that our design achieves anthropomorphic dexterity at a humanoid scale.