波士顿动力为Atlas配备新型4指手
波士顿动力给Atlas装了能使用人类工具的4指手，比旧版更灵活，还能自己修。
波士顿动力为Atlas机器人开发了新型4指手，年产量目标为10万个。新手指自由度从7个增加到13个，可在手掌内移动物体。4自由度对拇指可沿每根手指滑动，能重新定位物体并抓取滑落物品。手指可侧向展开，可握持工具并操作扳机，能提起100磅以上的负载。
Boston Dynamics has given Atlas a new 4-finger hand built to use human tools, not just grab boxes.
- Production target: 100K hands a year
- 13 degrees of freedom, up from 7 on the old 3-finger hand, so Atlas can now move objects inside its hand instead of only gripping them
- No pinky: a 5th finger would cost 3 more actuators and add another part that can break, and engineers agreed after taping their own pinky and ring fingers together for a day
- A 4-DOF opposable thumb can slide along every finger and pinch against any of them, which enables in-hand reorientation and catching a slipping grasp
- Fingers splay sideways, so the hand can hold a tool handle while working its trigger, covering drills, grinders, nail guns and welding torches
- It's still strong enough to carry a loaded minifridge weighing 100lb+
- Every joint uses the same sealed, direct-drive motor with no cables crossing joints, and each actuator pack swaps out as a single unit, so repairs stay quick and cheap
- It feels contact 2 ways: backdrivable motors sense force through the joints, while tactile pressure sensors cover the fingertips and palm
- The hand behaves predictably enough to simulate accurately, so RL can train it virtually, since human-wearable gloves record motion but miss the fast force control dexterity needs
- Early policies trained only in simulation already run on the real hand using motor feedback alone, though Boston Dynamics calls these initial results
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