Approaching Human Performance The Functionality-Driven Awiwi Robot Hand

Abstract

Designing an anthropomorphic hand is a multidisciplinary challenge that comprises several key aspects such as kinematics, actuation and the design of the hand itself. The following gives an overview of the most relevant existing hands. It will present current methods to synthesize hand kinematics followed by a short overview of recent passively compliant robots as well as existing variable stiffness actuation concepts and joints.