A comprehensive review of dexterous robotic hands: design, implementation, and evaluation

Area of Science:

• Robotics
• Mechanical Engineering

Background:

• Dexterous robotic hands are crucial for replicating human hand capabilities in robotics.
• Existing literature lacks a systematic framework for evaluating robotic hand dexterity.

Purpose of the Study:

• To provide a comprehensive review of recent advancements in dexterous robotic hands.
• To establish a categorization framework for robotic hand dexterity.
• To analyze various hardware designs, implementation methods, and manipulation techniques.

Main Methods:

• Systematic literature review of dexterous robotic hands.
• Categorization of dexterity into potential, grasp, and manipulation dexterity.
• Organization of robotic hands by digits, transmission, actuation, and sensing.
• Introduction of analytical, machine-learning, and sampling-based manipulation methods.

Main Results:

• A structured overview of current dexterous robotic hand technologies.
• Comparison of different robotic hand designs based on key performance criteria.
• Identification of diverse grasping and manipulation strategies.

Conclusions:

• The review offers a systematic approach to understanding and evaluating dexterous robotic hands.
• It synthesizes current knowledge on hardware and software for advanced robotic manipulation.
• This work serves as a foundational resource for future research in robotic hand development.