灵巧手深度：心灵手"巧"，手眼协同 20250511 摘要 • 灵巧手按照人手解剖结构拆分，拥有高达 21 个自由度，其中手指自由度 分配模拟人手，为实现精细操作奠定基础。国内厂商如雷赛智能、新洁电 器、伟创电气等正积极提升主动自由度，以增强关节活动能力。 • 灵巧手的核心部件包括驱动组件、传动组件和传感器。驱动模组中，空心 杯电机与无刷有齿槽电机各有优劣，值得深入研究以优化性能。传动模组 则涵盖腱绳、连杆和微型丝杠等多种架构，技术方案尚未收敛。 • 特斯拉采用腱绳传动方案，总自由度迭代至 22 个，主动自由度约为 17 个， 并使用无刷永磁槽电机替代空心杯电机以降低成本。同时，多种传感器如 压力感知、触觉感知和柔性微压力感知被用于增强智能化水平。 • 国内厂商如灵巧手科技已发布 O7、L10 和 L20 等多款灵巧手产品，集成 了指尖触觉传感器、3D 力传感器以及可选配的视触觉传感器，以优化动作。 志远公司则侧重视觉传感技术，提供低廉轻质的数据采集方案。 • 雷赛智能于 2025 年 4 月推出 6 主动自由度灵巧手，并计划推出更多型号， 硬件方案多样化。公司基于电机优势，致力于提高硬件水平，控制成本并 提 ...

点击 最 下方 "在看"和" "并分享，"关注"材料汇 添加 小编微信 ，遇见 志同道合 的你 业芬 Part1 灵巧手打开人形机器人应用上限，快速送代 Part2 混合机械方案是趋势,兼具高自由度和承载力 Part3 手部多维感知是方向，促进手脑协同 Part4 头部本体厂全栈自研,零部件提供整体解决方案 PART5 投资建议和风险提示 2 公众号·材料汇 目录 0 公众号 · 材料汇 备注：全文的"预计"如果没有特别说明，均为东吴证券研究所电新组预测 3 ◆ 灵巧手打开人形机器人应用上限，多方参与，2025年开启快速迭代。灵巧手要求具备运动能力、负载能力、 控制能力、感知能力、耐用能力、轻量化等，由驱动、传动、控制、感知四大模块构成。灵巧手是人形机器 人操作性能的核心，决定机器人功能的上限，是具身智能的核心。25年密集主机厂和零部件厂发布灵巧手方 案,且在未来2年灵巧手方案将快速迭代,并投入使用场景中,加速训练人形机器人手脑协同。 混合机械方案是趋势,兼具高自由度和承载力。驱动方案：若电机内置,首选空心杯,部分用步讲:腱绳方 案，电机集成于手臂，空间大，可选无刷有齿槽电机。传动方案：齿轮负责旋转运动调速， ...

1. Report Industry Investment Rating The document does not provide the report industry investment rating. 2. Core Viewpoints of the Report - The dexterous hand unlocks the application ceiling of humanoid robots. In 2025, many manufacturers are releasing dexterous hand solutions, and these solutions will iterate rapidly in the next two years, accelerating the training of hand - brain coordination in humanoid robots [4]. - The hybrid mechanical solution is the trend, combining high degrees of freedom and load - bearing capacity. In the short term, the scheme of hollow - cup motor + planetary reducer + ball screw + connecting rod will be the first to gain popularity, while in the medium and long term, a fusion scheme is more suitable [4]. - Multi - dimensional perception of the hand is the direction, which promotes hand - brain coordination. Tactile sensors are developing in the direction of high sensitivity, high integration, high extensibility, and low cost, with multiple technological routes advancing in parallel [4]. - Leading body manufacturers are conducting full - stack self - research, while component suppliers provide overall solutions. The price of dexterous hands is expected to drop in the medium term, and the market space for related components is large in 2030 [4]. 3. Summary According to the Directory Part 1: The Dexterous Hand Unlocks the Application Ceiling of Humanoid Robots and Iterates Rapidly - The dexterous hand is crucial for humanoid robots, determining their fine operation and complex task - execution capabilities. It accounts for 20% - 30% of the total cost of humanoid robots in the long run and is the most important hardware after the body actuator [9]. - Similar to the human hand, the dexterous hand requires high degrees of freedom, accuracy, durability, and perception. It is composed of four major modules: drive, transmission, control, and perception [17][22]. - In 2025, many manufacturers, including body manufacturers, independent integrators, and component factories, are making breakthroughs in dexterous hand technology, with significant product iterations [24]. Part 2: The Hybrid Mechanical Solution is the Trend, Combining High Degrees of Freedom and Load - Bearing Capacity - There are trade - offs between direct - drive and under - actuated schemes. The direct - drive scheme has high precision but large volume and high cost, while the under - actuated scheme is more compact, cost - effective, and adaptive [28][29]. - Motor drive is the mainstream driving method for dexterous hands, with hollow - cup motors and brushless slotted motors being the main choices. Hollow - cup motors are lightweight and fast - responding, while brushless slotted motors have high torque density [30][32]. - There are various transmission methods, including gears, screws, connecting rods, tendon ropes, and worm gears. The combination of planetary reducer + ball screw is the mainstream, and in the long term, a hybrid transmission scheme is the trend [50][70]. Part 3: Multi - Dimensional Perception of the Hand is the Direction, Promoting Hand - Brain Coordination - Human hand tactile perception is multi - dimensional, highly sensitive, and has high stretchability. Robot tactile sensors are developing in multiple technological directions to pursue optimal performance [74][78]. - There are multiple types of tactile sensors, such as piezoresistive, capacitive, electromagnetic, and visual - tactile sensors. Each has its own advantages and disadvantages. The development trend is towards high integration, high sensitivity, multi - dimensional force perception, high extensibility, and low cost [77][124]. Part 4: Leading Body Manufacturers Conduct Full - Stack Self - Research, and Component Suppliers Provide Overall Solutions - Leading body manufacturers, such as Tesla, FigureAI, and others, are conducting full - stack self - research on dexterous hands, with different solutions. Independent third - party integrators and component suppliers are also actively involved [4]. - The current price of dexterous hands varies greatly, with the mainstream price being 50,000 - 100,000 yuan per hand. In the medium term, the price is expected to drop to 5,000 - 30,000 yuan per hand, accounting for about 20% of the body cost [4]. Part 5: Investment Suggestions - The report recommends LeiSai Intelligence and ZhaoWei Machinery & Electronics, which can provide both overall solutions and components for dexterous hands. It also recommends component suppliers tied to core host factories, including manufacturers of hollow - cup motors, micro - screws, reducers, tactile sensors, and tendon ropes [4].