Introducing H4ND: Hyper-resilient, 4-Fingered, Nimble, Dexterous Anthropomorphic Robot Hand Optimized for Research

General-purpose grasping is a vital component of robotic manipulation that requires resilient and sophisticated gripper hardware. Anthropomorphic robot hands try to address this need by imitating the universal manipulation abilities of human hands; however, such technology tends to be more mechanically complex, expensive, and fragile than simpler grippers. This work presents the H4ND-an inventive, next-generation servo-driven 3D printed robotic hand designed to be repeatedly damaged and repaired at never-beforeseen rates. Unlike its servo-driven counterparts (e.g. Allegrohand, HDHM, LEAP Hand), the H4ND uses size-optimized sacrificial linkages to shift its point-of-failure onto a laughably inexpensive, massively manufacturable, 3D-printed part. Hence, this grasping platform can suffer merciless abuse during experimentation, undergo a quick-and-easy repair process, and be fully functional again. This is demonstrated in experiments featuring telepresence control and heavy object manipulation. With a 4.50 kg maximum payload, 0.25 $s$ finger closing time, 0.590 kg weight, 16 Degrees of Freedom, humanoid form factor, a 500 USD price tag, and less than a 5-minute mean repair time, the H4ND is a hyper-resilient, inexpensive, and potentially market-disrupting solution to robotic grasping. Therefore, the H4ND can empower researchers to spend less time worrying about their hardware's cost/longevity, and more time doing research.