Evaluate Human-Level Force–Speed Performance

Evaluate whether compact actuators fully integrated within the hand can achieve human-level force–speed performance for the STAND-MCP mechanism.

Background

The paper introduces the STAND-MCP as a compact two-degree-of-freedom robotic MCP mechanism with a passive, flexion-selective continuously variable transmission. Although experiments demonstrate force amplification and passive transmission reconfiguration, the reported results do not evaluate performance using compact actuators fully integrated into a complete robotic hand or against human-level force–speed benchmarks.

References

Human-level force–speed performance has not yet been evaluated with compact actuators fully integrated within the hand.

— A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range  (2609.00769 - Jang et al., 1 Sep 2026) in Section 7, Discussion and Conclusions

In addition, AA performance, extension to higher-DoF finger architectures, and the resulting workspace have not been systematically evaluated.

— A Compact Robotic Finger with 2-DoF MCP Joint Embedding DoF-Selective Passive Continuously Variable Transmission for Wide Force-Speed Operating Range  (2609.00769 - Jang et al., 1 Sep 2026) in Section 7, Discussion and Conclusions