MIT发布了仿真就绪的肌腱驱动手Aero，包含完整训练包，无需微调即可部署。
Aero Hand Open是一款仿真就绪的拟人化肌腱驱动手，包含仿真模型、执行映射和强化学习训练包。该手通过肌腱传动降低成本，但难以在仿真器中建模。研究人员发布了完整设计、仿真模型、映射关系和训练环境，支持策略完全在仿真中训练并直接部署。
Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning
Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are needed. They are also harder to learn on than a direct-drive hand. The underactuated transmission that produces the saving is itself difficult to represent in a simulator, and the joints one cable drives are not independently commandable. We present Aero Hand Open, a tendon-driven anthropomorphic hand that is released simulation-ready. Three things ship with it. A simulation model reproduces the cable transmission itself. An identified actuation map connects that model to the motor commands in both directions, including the three-way coupling of the thumb. A reinforcement learning package trains policies for the hand. Together they let a policy be trained entirely in simulation and run on the hand with no fine-tuning and no state estimation. We release the mechanical design, the simulation model, the identified mapping, the training environment and the deployment stack.