Mechanical design and tactile sensing in dexterous robot hands manipulation

Abstract

Mechanical design and tactile sensing are essential parts for dexterous hands, which decide stability and flexibility of robotics fingers movements. They are used on various application scenarios, IC equipment, medical apparatus and instruments, etc. This paper introduces mechanical structure and tactile sensing in domestic and overseas dexterous hands, such as Robonaut multifingers dexterous hand, Shadow hand, Gifu II hand, etc. The characters of these hands are also introduced in detail. According to various of dexterous hands, mechanical design of them are divided into two series, conventional design and creative design. Tactile sensors layout scheme and application are presented. This paper gives some probable future research directions in the end.