A Review of Robotic Dexterous Hands
DOI:
https://doi.org/10.54097/sq1v9z86Keywords:
robot hand, structure, hierarchical application.Abstract
Driven by emerging fields like intelligent manufacturing, medical rehabilitation, and service robotics, research on robotic dexterous hands—core for fine operations—has become a robotics hotspot. This review covers them across key dimensions: structural designs (anthropomorphic like 20-DOF Unitree Dex5-1, non-anthropomorphic like 3–5-DOF Roller Grasper V2, and flexible structures for minimally invasive surgery); control algorithms (classifying direct joint mapping, task-oriented strategies, and hybrid learning, highlighting efficiency gains from tactile feature compression); and applications (precision 3C assembly, logistics sorting, medical minimally invasive surgery, showing high precision and adaptability). It concludes with their evolutionary route, emphasizing collaborative optimization of structural simplification and algorithmic intelligence, and prospects for cost reduction, performance enhancement, and scenario generalization.
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