Multi-fingered Dexterous Hands: From Simplicity to Complexity and Simplifying Complex Applications

Abstract

A multi-fingered dexterous hand is a highly flexible and complex end-effector for robots. Since it can imitate various dexterous grasping and complex manipulation abilities of human hand, multi-fingered dexterous hand has been continuously studied and developed for more than half a century and has attracted extensive attention and received wide expectation from the public. In this paper, the research and development of humanoid multi-fingered dexterous hands are reviewed and analyzed. The complexity of multi-fingered dexterous hand is analyzed from aspects of bionic structures, actuation systems, transmission, sensing, composite/smart materials, and modeling and control. The complexity of multi-fingered dexterous hand is discussed from an applicational viewpoint in three levels: Partial function repetition, agile manipulation imitation, and function enhancement of human ability. Simplified realization of the complex application based on multi-fingered dexterous hand is also discussed. The dialectical relationship between the complexity of multi-fingered dexterous hand and the simplicity of application is illustrated. Finally, the trend and challenges of the multi-fingered dexterous hand research are analyzed concerning bionics, flexible sensing technology, manipulation planning, control strategy, and reducing cost.