Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity

  title={Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity},
  author={Antonio Bicchi},
  journal={IEEE Trans. Robotics and Automation},
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. The survey is focused mainly on three types of functional requirements a machine hand can be assigned in an artificial system, namely, manipulative dexterity, grasp robustness, and human operability. A basic… CONTINUE READING
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Stable prehension by a robot hand with elastic fingers

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