Robot Hands

This is by no means a comprehensive survey of underactuated robot hands, just some notes on my explorations. My starting point was the survey in (Dollar,Howe).

I tried to find project pages and images wherever I could, but for some machines all I’ve found is a paper reference or one of the author’s pages.

Underactuated or Compliant Robot Hands

• The 100G Capturing Robot

• Barrett Hand

• Belgrade/USC Hand, Belgrade/USC Hand.

• DLR Hand II

• Domo, (Edsinger-Gonzales, Weber)

• Graspar, (Crisman, Kanojia, Zeid), Jill Crisman

• Soft Gripper, (Hirose, Umetami)

• Laval University, (Laliberte, Birglen, Gosselin), MARS 12-DOF Hand, SARAH 10-DOF Hand, deformable grippers, tendon hand

• NAIST

• Obrero, Eduardo Torres-Jara and Rod Brooks, uses a DOMO arm

• NASA Robonaut

• Rutgers, (DeLaurentis, Mavroidis), Mavroidis at NEU` <>`__

• Salford (Caldwell, Tsagarakis)

• SBC Hand, MIT d’Arbeloff Lab, Harry Asada, (Cho, Rosmarin, Asada), SBC Hand video, SBC grasping video

• SDM Hand, Aaron Dollar, Robert Howe, (Dollar,Howe)

• Shadow Hand

• Southampton

• ARTS Lab hands, prostheses, (SPRING Hand paper)

• TBM, (Dechev, Cleghorn, Naumann), Dechev, Naumann

• UB III, (Lotti, Tiezzi, Vassura, Biagiotti, Palli, Melchiorri), overview paper,

• Utah/MIT Hand, photo, (Jacobsen, Wood, Knutti, Biggers)

• TU Delft SABA Arm and STYL Hand, from the Delft Biorobotics Lab.

Prosthetic Hands

• Touch Bionics i-LIMB prosthetic hand.

• DEKA (Dean Kamen) prosthetic (YT)

Other Hands

• DLR/HIT Hand, DLR Light-Weight Arm, Schunk Anthropomorphic Hand (YT), Justin Robot (2 DLR arms) (YT)

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Page revised 2008-10-23.

Garth Zeglin, Robotics Institute, Carnegie Mellon University.