Robot Hands

  • Claudio MelchiorriEmail author
  • Makoto Kaneko
Part of the Springer Handbooks book series (SHB)


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.


Joint Torque Tactile Sensor Human Hand Bevel Gear Robot Hand 
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.



Dipartmento di Informatica Sistemica e Telematica


Deutsches Zentrum für Luft- und Raumfahrt


Electro-Technical Laboratory


intrinsic tactile


Jet Propulsion Laboratory


Mechanical Engineering Laboratory


Massachusetts Institute of Technology


National Aeronautics and Space Agency


tension-differential type


University of Bologna


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Laboratory of Automation and RoboticsUniversity of BolognaBolognaItaly
  2. 2.Department of Mechanical EngineeringOsaka UniversitySuitaJapan

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