Hands for Dexterous Manipulation and Powerful Grasping: A Difficult Road Towards Simplicity

  • Antonio Biechi
Conference paper

Abstract

In this paper, an attempt at summarizing the evolution and the state-of-the-art in the field of robot hands is made. In such exposition, a critical evaluation of what in the author’s view are the leading ideas and emerging trends, is privileged with respect to exhaustiveness of citations. A basic distinction is made between hands designed for mimicking the human anatomy and physiology, and hands designed to meet practical, if restricted, task requirements.

The fact that most of the sophisticated robot hands produced so far never found their way into real-world applications is a strong stimulus at rethinking some of our approaches. In particular, arguments are presented in favour of a “minimalistic” attitude in the design of hands for practical applications, i.e., use the least number of actuators, the simplest set of sensors, etc., for a given task. To achieve this rather obvious engineering goal is a challenge to our community. The paper illustrates some of the new, sometimes difficult theoretical problems that are brought about by building and controlling simpler, practical devices.

Keywords

Tactile Sensor Nonholonomic System Human Hand Rolling Contact Manipulation System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag London Limited 1996

Authors and Affiliations

  • Antonio Biechi
    • 1
  1. 1.Centro “E.Piaggio”Università di PisaPisaItalia

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