PALM MANIFOLD CENTRALIZED ARCHITECTURE v1.0 Integrated Actuator–Thermal–Fluid–Tactile Core for Palm-Actuated Humanoid Hands Serviceable Cartridge Module with Zero-Distal Electronics and Continuous-Duty Industrial Validation Gates

This publication defines a Palm Manifold Centralized Architecture for dexterous humanoid hands: a single serviceable palm cartridge that contains all active elements (actuation, tendon terminations, centralized tactile excitation/readout, and thermal export interfaces), while fingers remain passive with zero distal electronics and no distal heat sources. The paper is written as a buildable, falsifiable technical note with explicit bench-top validation gates (including continuous-duty operation, drift limits, tactile stability, thermal isolation, and cartridge swap restoration) that can be tested without a full humanoid platform. The intent is to provide a deployment-oriented integration boundary that reduces distal thermal density, eliminates distal wiring failure modes, simplifies maintenance, and enables industrial-scale serviceability.