Review on human-like robot manipulation using dexterous hands

Kadalagere Sampath, Suhas; Wang, Ning; Wu, Hao; Yang, Chenguang

Abstract

In recent years, human hand-based robotic hands or dexterous hands have gained attention due to their enormous capabilities of handling soft materials compared to traditional grippers. Back in the earlier days, the development of a hand model close to that of a human was an impossible task but with the advancements made in technology, dexterous hands with three, four or five-fingered robotic hands have been developed to mimic human hand nature. However, human-like manipulation of dexterous hands to this date remains a challenge. Thus, this review focuses on (a) the history and motivation behind the development of dexterous hands, (b) a brief overview of the available multi-fingered hands, and (c) learning-based methods such as traditional and data-driven learning methods for manipulating dexterous hands. Additionally, it discusses the challenges faced in terms of the manipulation of multi-fingered or dexterous hands.

• Journal Article Type: Review
• Acceptance Date: Oct 21, 2022
• Online Publication Date: Feb 18, 2023
• Publication Date: Mar 1, 2023
• Deposit Date: Mar 2, 2023
• Publicly Available Date: Mar 2, 2023
• Journal: Cognitive Computation and Systems
• Electronic ISSN: 2517-7567
• Publisher: Institution of Engineering and Technology (IET)
• Peer Reviewed: Peer Reviewed
• Volume: 5
• Issue: 1
• Pages: 14-29
• DOI: https://doi.org/10.1049/ccs2.12073
• Keywords: Dexterous hand, learning‐based manipulation, robot manipulation
• Public URL: https://uwe-repository.worktribe.com/output/10483377
• Publisher URL: https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/ccs2.12073