Quantifying Serviceability: A Maintainability Framework for Tendon-Driven Robotic Hands

Tendon-driven robotic hands are widely adopted for their dexterity and affordability, yet their practical deployment is frequently hindered by repair and maintenance challenges. This article introduces serviceability as a core performance metric-alongside force, workspace, and dexterity-by adapting the concept of Mean Time to Repair (MTTR) from reliability engineering into six key performance indicators tailored for tendon-driven hands. A lightweight benchmarking protocol is proposed for evaluating these metrics in lab and classroom settings using basic tools. This framework enables robotic hands to be assessed not only by their capabilities but also by how easily they can be restored to working conditions, making them more reliable for both academic and practical use.