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Springer Handbook of Robotics pp 345–360Cite 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. 15.1, various approaches for actuation are provided with their advantages and disadvantages in Sect. 15.2. 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. 15.3, actuator and sensors used for multifingered hands are described. In Sect. 15.4, modeling and control are introduced by considering both dynamic effects and friction. Applications and trends are given in Sect. 15.5. Finally, this chapter is closed with conclusions and further reading.

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Abbreviations

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

IT:

inferotemporal

IT:

intrinsic tactile

JPL:

Jet Propulsion Laboratory

NASA:

National Aeronautics and Space Agency

TDT:

tension differential type

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Author information

Authors and Affiliations

  1. Dipartimento di Elettronica Informatica e Sistemistica, Università degli Studi di Bologna, Via Risorgimento 2, 40136, Bologna, Italy

    Claudio Melchiorri Prof

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

    Makoto Kaneko Prof

Authors
  1. Claudio Melchiorri Prof
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  2. Makoto Kaneko Prof
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Corresponding authors

Correspondence to Claudio Melchiorri Prof or Makoto Kaneko Prof .

Editor information

Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Melchiorri, C., Kaneko, M. (2008). Robot Hands. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_16

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

  • eBook Packages: EngineeringEngineering (R0)

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