A Century of Robotic Hands

C. Piazza, G. Grioli, M. G. Catalano, A. Bicchi

Research output: Contribution to journalReview articlepeer-review

234 Scopus citations

Abstract

This article reports on the state of the art of artificial hands, discussing some of the field's most important trends and suggesting directions for future research. We review and group the most important application domains of robotic hands, extracting the set of requirements that ultimately led to the use of simplified actuation schemes and soft materials and structures two themes that clearly emerge from our examination of developments over the past century. We provide a comprehensive analysis of novel technologies for the design of joints, transmissions, and actuators that enabled these trends. We conclude by discussing some important new perspectives generated by simpler and softer hands and their interaction with other aspects of hand design and robotics in general.

Original languageEnglish
Pages (from-to)1-32
Number of pages32
JournalAnnual Review of Control, Robotics, and Autonomous Systems
Volume2
DOIs
StatePublished - 3 May 2019
Externally publishedYes

Keywords

  • artificial hands
  • grasping
  • manipulation
  • robotic hands
  • soft hands

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