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A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

This letter presents a compact two-degree-of-freedom (DoF) robotic finger with a flexion-selective passive continuously variable transmission (CVT) to achieve a wide force-speed operating range. Inspired by the functional differentiation of the human metacarpophalangeal (MCP) joint, the proposed mechanism realizes DoF-specific transmission differentiation by selectively assigning passive CVT to the flexion-extension DoF while preserving direct transmission for abduction-adduction. For a wide force-speed operating range, a force-responsive passive CVT is embedded in the flexion pathway, while d

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