ORBIT: A Modular Multi-finger Robotic Hand Platform with Rotational Finger Reconfiguration

arXiv:2610.33241v1 Announce Type: new Abstract: Despite the popularity of multi-fingered robotic hands for dexterous manipulation, there is no systematic platform to compare different hand morphologies against one another. We present ORBIT (Orbital Reconfigurable Base-actuated Integrated Theta-motion Hand), a modular platform designed to enable principled exploration of multi-fingered hand morphology. The core contribution of ORBIT is a rotating knuckle mechanism, where independent fingers travel around a cylindrical palm via a belt drive. This enables ORBIT to perform quick recon- figuration (