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System-Level Design and Integration of Dexterous Robotic Hands for Complex Manipulation
Qianqian Wang1, Qijun Yang1, Xuanyu An1
1Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing 211189, China.
Research (Washington, D.C.)
|August 13, 2026
Summary
This review outlines the development of anthropomorphic dexterous hands for complex manipulation tasks. It covers structural design, perception technologies, intelligent control strategies, and deployment considerations for enhanced human-robot collaboration.
Area of Science:
- Robotics and Mechanical Engineering
- Human-Robot Interaction
- Artificial Intelligence
Background:
- Anthropomorphic dexterous hands are crucial for intelligent manufacturing, medical rehabilitation, and human-robot collaboration.
- Advancements are driven by the need for sophisticated manipulation capabilities.
Purpose of the Study:
- To review the evolution of dexterous hands from structural design to intelligent control.
- To establish a system-level technical framework for their development and deployment.
Main Methods:
- Summarizing structural design principles (parameterization, compliant mechanisms, advanced materials).
- Reviewing perception technologies (sensing, tactile detection, vision-tactile fusion).
- Comparing control strategies (model-based, learning-based, hybrid).
- Discussing deployment-oriented strategies (modularity, standardization, integration).
Main Results:
- A comprehensive framework is presented, integrating structural embodiment, multimodal perception, control, and deployment.
- Key interactions and constraints across these dimensions are clarified.
Conclusions:
- The paper provides a system-level basis for designing, evaluating, and deploying dexterous hands.
- This framework supports advancements in complex manipulation and human-robot collaboration.
