Abstract
In dexterous robotic hand design, achieving high mobility and adaptability comparable to human hands remains an ongoing challenge. Biomimetic designs mimicking the musculoskeletal structure have shown promise yet face difficulties in preserving key kinematic and mechanical principles while reducing system complexity. Here, we present a biomimetic finger design that preserves these principles through coordinated rigid-soft interplay, achieving structural and control simplicity for constructing dexterous robotic hands. Our design distills complex anatomical structures into skeletal mechanisms with regular geometrics, strategically deployed soft ligaments, and elastic tendon actuation, enabling controllable multi-degree-of-freedom dexterity while providing resilience and compliance. We establish mathematical models to analyze finger kinematics, rigid-soft interplay principles, and controllable actuation. Building on these models, we integrate biomimetic fingers with a thumb to develop an anthropomorphic robotic hand. Our robotic hand experimentally demonstrates remarkable dexterity and versatility across various tasks, including piano playing, power and pinch grasping, and in-hand manipulation, confirming the design effectiveness.