PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands

arXiv:2606.24377v1 Announce Type: new Abstract: Compliant joints can embed safety and adaptability into dexterous hands, but achieving large-stroke anthropomorphic motion while maintaining joint-specific, directiondependent stiffness and reliable proprioception remains challenging. This paper presents the PDS joint, a parametric doublespiral (PDS) compliant joint that enables systematic shaping of directional stiffness across multiple deformation modes, including flexion/extension, abduction/add...