The industry-standard drive and control solution for dexterous hands primarily relies on MCUs as the core, controlling motor drivers in coordination with coreless motors and ball screw transmission mechanisms to perform multi-joint movements like grasping. However, this approach has significant limitations: traditional MCUs struggle with complex algorithms, making it difficult to achieve the required precision in torque and speed control when driving motors. Furthermore, a single MCU can optimally drive only 3-4 motor channels, falling short of the demand for 12 or more channels. Attempting to expand this often results in increased latency.
The T40 we employ features a heterogeneous computing architecture and a customized logic control solution. Core motor control algorithms are implemented in hardware logic, reducing software-level latency and effectively ensuring motion control accuracy for fine manipulation scenarios. It integrates up to 12 independent motor drive channels, supporting the synchronous movement of multiple joints in dexterous hands to meet the demands of complex actions. Through deep coordination and optimized scheduling between the Programmable Logic Unit (PLU) and the embedded processing core, it balances real-time performance with flexible functional adaptation, delivering superior performance in both response efficiency and power consumption balance.