Leap Hand V2 Advanced: Dexterous, Low-Cost Hybrid Rigid-Soft Hand for Robot Learning

摘要

The human hand is a remarkable feat of biology, with the ability to handle intricate tools with great precision and strength yet softly handle delicate objects. Robot hands attempting to emulate this have often fallen into one of two categories: soft or rigid. Soft hands, while compliant and yielding lack the precision and strength of human hands. Conversely, rigid hands are brittle to bumps and do not conform naturally to their environment. We call our solution LEAP Hand v2 Adv, a dexterous, $ 3000, simple anthropomorphic hybrid rigid-soft hand that bridges this gap. First, it achieves a balance of human-hand-like softness and stiffness via a 3d printed soft exterior combined with a 3d printed internal bone structure. Next, LEAP Hand v2 Adv incorporates two powered articulations in the foldable palm: one spanning the four fingers and another near the thumb-mimicking the essential palm flexibility for humanlike grasping. Lastly, LEAP Hand v2 Adv boasts a dexterous Metacarpophalangeal (MCP) kinematic structure, making it highly human-like, easy to assemble, and versatile. Through thorough real-world experiments, we show that LEAP Hand v2 Adv exceeds the capabilities of many existing robot hands for grasping, teleoperated control, and imitation learning. We release 3D printer files and assembly instructions for the dexterous hand research community to use on our website at https://v2-adv.leaphand.com/