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Springer Handbook of Robotics pp 463–480Cite as

Robot Hands

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Abstract

Multifingered robot hands have a potential capability for achieving dexterous manipulation of objects by using rolling and sliding motions. This chapter addresses design, actuation, sensing and control of multifingered robot hands. From the design viewpoint, they have a strong constraint in actuator implementation due to the space limitation in each joint. After briefly introducing the overview of anthropomorphic end-effector and its dexterity in Sect. 19.1, various approaches for actuation are provided with their advantages and disadvantages in Sect. 19.2. The key classification is (1) remote actuation or build-in actuation and (2) the relationship between the number of joints and the number of actuator. In Sect. 19.3, actuators and sensors used for multifingered hands are described. In Sect. 19.4, modeling and control are introduced by considering both dynamic effects and friction. Applications and trends are given in Sect. 19.5. Finally, this chapter is closed with conclusions and further reading.

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Abbreviations

3-D:

three-dimensional

DIST:

Dipartmento di Informatica Sistemica e Telematica

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

ETL:

Electro-Technical Laboratory

IT:

intrinsic tactile

JPL:

Jet Propulsion Laboratory

MEL:

Mechanical Engineering Laboratory

MIT:

Massachusetts Institute of Technology

NASA:

National Aeronautics and Space Agency

TDT:

tension-differential type

UB:

University of Bologna

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Author information

Authors and Affiliations

  1. Laboratory of Automation and Robotics, University of Bologna, Via Risorgimento 2, 40136, Bologna, Italy

    Claudio Melchiorri

  2. Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, 565-0871, Suita, Japan

    Makoto Kaneko

Authors
  1. Claudio Melchiorri
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  2. Makoto Kaneko
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Corresponding author

Correspondence to Claudio Melchiorri .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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The PISA-IIT SoftHandavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/749

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The PISA-IIT SoftHandavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/750

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The Salisbury Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/751

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The Barrett Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/752

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The Shadow Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/753

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The DLR Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/754

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A high-speed Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/755

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The UBH2, University of Bologna Hand, ver. 2 (1992)available from http://handbookofrobotics.org/view-chapter/19/videodetails/756

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The Dexmart Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/767

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DLR Handavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/768

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The DLR Hand performing several taskavailable from http://handbookofrobotics.org/view-chapter/19/videodetails/769

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Melchiorri, C., Kaneko, M. (2016). Robot Hands. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_19

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

  • eBook Packages: EngineeringEngineering (R0)

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