A | Suzanne Somers, the actress best known for her roles in TV comedies including "Three's Company" and "Step by Step," has died, her longtime publicist announced Sunday. She was 76 years old.“Suzanne Somers passed away peacefully at home in the early morning hours of October 15th," R. Couri Hay said in a statement. "She survived an aggressive form of breast cancer for over 23 years. Suzanne was surrounded by her loving husband Alan, her son Bruce, and her immediate family. Her family was gathered to celebrate her 77th birthday on October 16th. Instead, they will celebrate her extraordinary life, and want to thank her millions of fans and followers who loved her dearly."A private family burial will take place this week, Hay said, and a memorial will be held next month.Born Suzanne Marie Mahoney on Oct. 16, 1946, in San Bruno, California, Somers got her acting start in the late '60s and early '70s with small roles and bit parts in films like the 1968 Steve McQueen action classic "Bullitt," and Clint Eastwood's "Magnum Force" in 1973. That same year, she also had a brief but memorable appearance in the George Lucas-directed "American Graffiti," credited as "Blonde in T-Bird" who silently mouths the words "I love you" to star Richard Dreyfuss before driving away.Somers also appeared throughout the 1970s on hit TV shows including "The Rockford Files," "One Day at a Time," "The Six Million Dollar Man," "The Love Boat" and "Starsky & Hutch." However, her big break came when she was cast as the ditzy Chrissy Snow on the ABC sitcom "Three's Company" opposite Joyce DeWitt and the late John Ritter. The series, based on the British sitcom "Man About the House," revolved around the antics of three single roommates – Somers' Chrissy, Ritter's Jack Tripper and DeWitt's Janet Wood – living together platonically."Three's Company" was a hit, running for eight seasons between 1977 and 1984 and spawning several spinoff series. It also made Somers a sex symbol and household name. Before the show's fifth season, Somers famously demanded a raise from $30,000 an episode to $150,000, equal to what male co-star John Ritter reportedly was making then. When producers refused, Somers claimed health issues and declined to appear in two show episodes. Despite her popularity, her role was drastically reduced for the remainder of the season and she was fired when the season ended in 1981. Somers sued the show's producers for $2 million in response but received only a small fraction of what she asked.Widely criticized in the popular press for her "Three's Company" demands, Somers found it difficult for several years to secure acting, other than an occasional TV movie. She also starred on the short-lived, critically drubbed syndicated sitcom "She's the Sheriff" from 1987 to 1989. Somers also headlined a series of one-woman shows on the Las Vegas strip in the 1980s, which she reprised in 2015.To further help make ends meet, in 1990, Somers became the commercial spokesperson for the Thighmaster, a piece of personal exercise equipment meant to be squeezed between one's thighs to develop leg and hip strength. While the ubiquitous infomercials, featuring Somers in heels and a leotard, were widely lampooned, the product was a success, selling millions of units and earning Somers induction into the Direct Marketing Response Alliance Hall of Fame. Under her own business shingle, Somers ultimately began selling her own successful lines of personal products, including skin care, makeup, hair care and health products.Ten years after she was fired from "Three's Company," Somers scored her next big television role, when she was cast on ABC's "Step by Step" alongside "Dallas" alum Patrick Duffy. Similar to the plot of "The Brady Bunch," the sitcom starred Somers and Duffy as Frank and Carol, two single parents who married and blended their families, which consisted of three children each. Somers remained on this show, which was part of ABC's TGIF lineup until it changed networks for its final season, for its entire seven-season run, which ended in 1998.Somers worked sporadically in television in the years after "Step by Step" ended, including brief forays into talk. She gave Broadway a shot in 2005 with her one-woman show "The Blonde in the Thunderbird"– a reference to her cameo in "American Graffiti" more than 30 years earlier – featuring a collection of stories about her life and Hollywood career, but it closed after less than a week of performances due to poor ticket sales and bad notices. She also competed on season 20 of "Dancing with the Stars" in 2015 alongside her professional partner, Tony Dovolani, placing ninth.Somers battled breast cancer multiple times throughout her life. She was first diagnosed with the disease in 2000 during a routine mammogram and subsequently underwent a lumpectomy and radiation therapy for treatment, as well as seeking out alternative therapies. The actress opened up about additional bouts with breast cancer in 2023, telling ABC's "Good Morning America," "every now and then it pops up again, and I continue to bat it down.""This is not new territory for me. I know how to put on my battle gear and I'm a fighter," she continued at the time, adding that her husband had "been by my side every step of the way."Somers wrote numerous books, including memoirs, ones focused on health and wellness, cookbooks and even a collection of poetry. Her most recent was "Two's Company: A Fifty-Year Romance with Lessons Learned in Love, Life & Business," published in 2017.Somers was married twice. Her first marriage, to Bruce Somers, produced her only child, Bruce Jr., and ended in divorce in 1968 after three years. She met her future husband, Alan Hamel, in 1969 when she was a prize model on "Anniversary Game," the short-lived game show he was hosting. The two married in 1977 and remained together until her death.。 芝能科技出品 今年 7 月，美国自动化促进协会（A3）在 Humanoid Robot Forum 上做了一场座谈，请来三家做灵巧手相关生意的创始人：PSYONIC 的 Aadeel Akhtar、Sanctuary AI 的 Olivia Norton，还有刚被自己另一家公司收购的 Kinisi 创始人 Bren Pierce。 主持人把话题引向人形机器人“另一道最大的难题”，灵巧度，以及背后的数据采集与训练。 这几个人的答案各不相同，却都绕不开一个事实：人形机器人走到今天，腿能走、身能平衡，真正卡住它的，是那两只手。 一只人手有 27 个自由度，27 块骨头，三十多条肌肉，还有数以千计的神经末梢。
B | 我们靠它拿起鸡蛋、系鞋带、弹钢琴，从来不觉得难。要让机器复刻这种灵活，却是机器人学里最磨人的一道关。 ● 第一关：把足够多的动力塞进巴掌大的地方 灵巧手难，第一难在驱动。要在跟人手差不多大的体积里，塞进电机、减速器、编码器、传动机构和传感器，还得有力气。 业界主流用空心杯电机，直径往往只有 6 到 8 毫米，功率密度很高，可塞得密了就发热，手指里那点空间散热极难，长时间高负载很容易过热。 特斯拉在第三代灵巧手上把执行器全挪到了前臂，手指靠腱绳远程拉动，就是为了给手部减重、给散热留余地。 PSYONIC 的 Ability Hand 反过来，把 6 个无刷电机直接放进手掌和手指，换来 0.2 秒的合拢速度和 490 克的重量，代价是自由度只有 6 个。 这里头有个绕不开的取舍：电机离关节越近，控制越直接、响应越快，可手就越重、越热；电机挪远了，手轻了，可传动链变长，精度和寿命又成了新麻烦。 ● 第二关：连杆、腱绳还是直驱 驱动之后是传动，这是灵巧手路线分歧最大的地方。连杆传动靠刚性的杆件把动力送到关节，负载和精度都好，工业里很稳，缺点是不够柔，手指掰不过去的地方就是掰不过去。
C | 因时机器人的 RH56 系列、傲意科技的 ROHand 都走这条线，靠它把成本压下来、把可靠性做上去，因时 2025 年单这一系列就卖出了一万多只。 腱绳传动更像人，用柔性线缆模仿肌腱，把电机放在前臂，靠拉索带动手指，轻、灵活、自由度能堆得高。 特斯拉第三代、英国的 Shadow、国内的灵心巧手 L30、宇树 Dex5 都在这条线。 可腱绳的软肋也明显：线缆会磨损、会拉伸、张力会漂移，时间一长关节零位就歪了。 有调研报告称，特斯拉在工厂分拣测试里灵巧手寿命只有六周，每年换件成本逼近十万美元，腱绳的蠕变和摩擦是主要推手。 复合钨丝腱绳（高测股份基于光伏金刚线技术）抗蠕变达普通产品 200 倍、循环寿命超 160 万次，可单只手用到的钨丝成本就过万元，暂时贵得用不起。
D | 直驱则是电机直接顶在关节上，没有传动误差、响应快，兆威机电等用它做高精度手，代价是体积大、散热难、末端惯量大。
E | 于是越来越多方案走向混合：丝杠加腱绳、行星齿轮箱加丝杠加腱绳，在灵活和精度之间找平衡。
F | ● 第三关：让手真的“感觉到”东西 光会动还不够，手得知道摸到了什么。人类指尖每平方厘米有近万个触觉像素点，机器人长期是“盲人摸象”，只在指尖放一个单点力传感器。
G | 2025 年这个情况在变。6 月，北京通用人工智能研究院和北大联合做的 F-TAC Hand 登上《自然·机器智能》封面，手掌 70% 面积铺了高分辨率触觉传感器，空间分辨率到 0.1 毫米。 帕西尼的 DexH13 集了 1140 个触觉单元，还把 AI 视觉融进来；智元的 OmniHand 在一只 500 克的手上布了 400 多个力控触点，售价压到 9800 元；强脑的 Revo 2 能分辨硬度、纹理、受力方向，现场演示过点火柴。
H | 这些进展让机器人从“握住”走向“感受”。 但电子皮肤也有自己的麻烦：反复触碰会磨损，柔性传感器在工厂环境里寿命有限，触觉数据怎么和控制闭环接上，也还在摸索。
I | ● 第四关：手和脑要一起练 前面三关是硬件，最后一关在软件。
J | 自由度越高，协调越难；要让二十多个关节听话地配合，离不开触觉、力觉的实时反馈，更离不开能理解任务的大模型。 宇树创始人王兴兴最近有个判断：机器人本体、灵巧手这些硬件还有提升空间，但某种意义上已经基本够用，真正的短板在软件层的具身智能大模型，那个领域现在还没人真正突破，处境像 ChatGPT 出现前的一到三年。 这里还有个鸡生蛋的问题：没有大规模部署，就采不到足够的真实交互数据；没有够聪明的模型，又没法大规模部署。 灵心巧手估算，大约要一百万台级别的装机量，才能把真实数据集补全，让灵巧手在部署中学会大多数人类技能。
K | 这条路，硬件能跑，数据在起步，模型还在概念期。
L | ● 国外进度：几条不同的路 把视野拉到全球，几家走得各有章法。
M | ◎ 特斯拉最激进，Gen3 干到 22 个自由度（五指各 4 个加手腕 2 个），执行器 17 个，前臂放电机、腱绳拉手指，还用 O 型圈弹性回弹省掉 4 到 5 个伸展电机，拇指做成了三自由度。 工程巧思很多，可腱绳蠕变、摩擦、零位漂移这些坑还没填平，量产时间也一再往后推。 ◎ Shadow Robot 是另一条路，做了二十多年，24 个关节（20 个主动自由度加 4 个欠驱动），20 个直流电机，腱驱，一百多个传感器跑在 1kHz 上，还接了 BioTac 指尖触觉，ROS 全打通。 它是研究圈的金标准，可一台十万美元往上，重 4.3 公斤，是实验室里的精密工具，不是量产货。 ◎ PSYONIC 最特别，从假肢起家，Ability Hand 五指、6 自由度、30 个触觉传感器、490 克、0.2 秒合拢，NASA、Meta、Google、Amazon 都在用，Apptronik 的 Apollo、Hexagon 直接把它接上机器人，ABB 拿它做数据采集。 它证明了一件事：假肢领域打磨了几十年的五指灵巧和触觉反馈，能直接给机器人用。 ◎ Kinisi 和 Sanctuary 则更务实。
N | Kinisi 把双臂 torso 架在轮式底盘上，手用现成夹爪，先把能干活跑通；Sanctuary 把重心压在移动操作，不执着于一步到位造出最像人的手。 Figure 的 02 代手是 16 自由度，每根手指一个自含的电机加传感单元，指尖能感知低到 3 克的力量，手掌还藏了摄像头做手内视觉，配合 Helix 模型端到端训练。
o | ● 国内进度：多路线一起冲 国内更热闹，截至 2025 年 3 月相关企业已超 40 家，资本和出货量都在猛涨。 2025 年国内灵巧手销量 1.92 万只，同比涨了 236%，2026 年预计冲到 7 万只，到 2030 年可能破 43 万只，五年复合增速约 87%。 路线也分几支。 ◎ 连杆派以因时、傲因为代表，靠可靠和低价走量； ◎ 因时的 G2 系列做到 13 个主动自由度、18 个可动关节，整手 990 克、指尖力 20N，已经盈亏平衡。 腱绳和高自由度派冲得最猛。 ◎ 灵心巧手的 L30 到 25 自由度，2025 年融了五轮，放话 2026 年交付 5 到 10 万台； ◎ 宇树 Dex5 单手 20 自由度（16 主动加 4 被动），94 个触点，能打扑克、拧魔方； ◎ 曦诺未来的 Flex 1 也是 25 自由度，手掌 380 克，自研 8 毫米空心杯电机和 7 毫米行星滚柱丝杠，扭矩密度做到 322Nm/kg； ◎ 灵巧智能的 DexHand021 Pro 是 22 自由度仿生架构，还先提出了量化灵巧度的评价体系。 触觉感知派则有帕西尼、强脑、戴盟、智元。 ◎ 帕西尼把多维触觉和 AI 视觉合在一起，四个月拿了 10 亿融资； ◎ 戴盟用毫米级视触觉传感器做易碎件柔顺操控； ◎ 智元 OmniHand 把 400 多个触点塞进 500 克的手，9800 元的定价把高自由度手拉到万元以内，2026 年 4 月又亮出 22 加 3 自由度的 Ultra-T，掌内还集了摄像头。
p | 整机厂几乎都在自研，宇树、智元、优必选、星动纪元（XHand 12 主动自由度）、兆威机电（DM17 十七自由度）各显神通。 对比之下：各有所长，也各有欠账 把国内外摆在一起看，差距很少体现在某一项参数上，更多在各自的侧重点。 ◎ 国外在高自由度、仿真生态、假肢技术迁移上积累更深：Shadow 嵌进英伟达 Isaac Lab，让全球研究者在仿真里用它训练；PSYONIC 把假肢的触觉和可靠性直接搬过来；特斯拉把自由度和仿生推到极限。
q | 它们的手更像研究级或参考级产品，单项强，可成本和寿命是硬伤。 ◎ 国内则在成本、量产、供应链、高自由度基础上冲得猛。 因时靠连杆方案一年卖一万多只，灵心巧手喊出十万台年交付，帕西尼四个月十亿融资，智元把高自由度手压到万元档。
r | 短板在数据和模型，这是王兴兴说的软肋，也是全行业的软肋。
s | 特斯拉的灵巧手在工厂测试寿命只有六周、单只成本超六千美元；同一时间因时靠相对简单的连杆方案卖破万台。极致仿生和稳定量产，眼下还不是一回事。 小结 人形机器人真正干活，不能用夹子，灵巧手，难在硬件要小要轻要有力，难在传动要柔要准要耐用，难在传感要密要稳要真，更难在软件和硬件得一起练、一起放量。国外的手在精度和生态上先走一步，国内的手在成本和产量上追得很凶。
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