On the development of intrinsically-actuated, multisensory dexterous robotic hands

ROBOMECH Journal

Table 1 Dexterous robotic hands (selected)

Name	Fingers	Degree of freedom	Actuation configuration	Transmission mechanism	Ref.
Okada hand	3	11	Extrinsic	Tendon + Pulley	[6]
High-speed hand	3	8	Intrinsic	Harmonic reducer	[7]
Pinching hand	5	18	Intrinsic	Gear + Pulley	[8]
Ultrasonic hand	5	20	Intrinsic	Ultrasonic motors + Elastic elements	[9]
DLR-I hand	4	12	Intrinsic	Tendon	[10]
DLR-II hand	4	13	Intrinsic	Belt + Linkage + Gear	[11]
Dexhand	4	12	Hybrid	Tendon	[12]
DLR HASy hand	5	19	Extrinsic	Tendon	[13]
UB-II hand	3	11	Extrinsic	Tendon	[14]
UB-III hand	5	16	Extrinsic	Tendon	[15]
DIST hand	4	16	Extrinsic	Tendon	[16]
ARTS hand	5	11	Hybrid	Tendon + Gear + Worm	[17]
iCub hand	5	9	Hybrid	Tendon	[18]
Shadow hand	5	24	Extrinsic	Tendon	[19]
Stanford/JPL	3	9	Extrinsic	Tendon	[20]
Utah/MIT hand	4	16	Extrinsic	Tendon	[21]
Robonaut hand	5	14	Extrinsic	Tendon	[22, 23]
Extrinsic hand	5	11	Extrinsic	Tendon	[24]
Intrinsic hand	5	15	Intrinsic	Belt + Ballscrew	[25]
Gifu II hand	5	16	Intrinsic	Linkage + Gear	[26]
Gifu III hand	5	16	Intrinsic	Linkage + Gear	[27]
NAIST hand	4	12	Intrinsic	Linkage + Gear	[28]
NAIST hand 2	5	16	Extrinsic	Tendon + Gear	[29]
TWENTY-ONE	4	13	Intrinsic	Linkage + Gear	[30]
KIST hand	4	9	Intrinsic	Spatial linkage	[31]
ZJUT hand	5	20	Extrinsic	Flexible pneumatic actuator	[32]
DLR/HIT I	4	13	Intrinsic	Linkage + Gear	–
DLR/HIT II	5	15	Intrinsic	Belt + Tendon	–