publications

2025

1. 

   RUKA: Rethinking the Design of Humanoid Hands with Learning

   Anya Zorin, Irmak Guzey, Billy Yan, and 4 more authors

   Robotics: Science and Systems (RSS), 2025

   Abs arXiv Bib Website

   Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and afford- ability. Existing control methods impose compromises on hand designs and applications. However, learning-based approaches present opportunities to rethink these trade-offs, particularly to address challenges with tendon-driven actuation and low-cost materials. This work presents RUKA, a tendon-driven humanoid hand that is compact, affordable, and capable. Made from 3D- printed parts and off-the-shelf components, RUKA has 5 fingers with 15 underactuated degrees of freedom enabling diverse human-like grasps. Its tendon-driven actuation allows powerful grasping in a compact, human-sized form factor. To address control challenges, we learn joint-to-actuator and fingertip-to- actuator models from motion-capture data collected by the MANUS glove, leveraging the hand’s morphological accuracy. Extensive evaluations demonstrate RUKA’s superior reachability, durability, and strength compared to other robotic hands. Tele- operation tasks further showcase RUKA’s dexterous movements. The open-source design and assembly instructions of RUKA, code, and data are available at ruka-hand.github.io

   @article{zorin2025ruka,
     title = {RUKA: Rethinking the Design of Humanoid Hands with Learning},
     author = {Zorin, Anya and Guzey, Irmak and Yan, Billy and Iyer, Aadhithya and Kondrich, Lisa and Bhattasali, Nikhil X. and Pinto, Lerrel},
     journal = {Robotics: Science and Systems (RSS)},
     year = {2025},
   }