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 …

This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven
by five actuators that is capable of performing a wide range of grasping and in-hand …

This article reviews the literature on the design of robotic mechanical grippers, with a focus
on the mechanical aspects, which are believed to be the main bottleneck for effective …

The human hand is able to achieve an unparalleled diversity of manipulation actions. One
contributor to this capability is the structure of the human finger pad, where soft internal …

This paper describes the development of a novel non-anthropomorphic robot hand with the
ability to manipulate objects by means of articulated, actively driven rollers located at the …

Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast,
typically use only the fingertips, which can limit dexterity. In this work, we leveraged a …

Grasping objects that are too large to envelop is traditionally achieved using friction that is
activated by squeezing. We present a family of shear-activated grippers that can grasp such …

The design of a soft-touch gripper is presented. This gripper consumes less than 60 W of
power during grasp or release motions, is self-contained, inherently gentle, and can grasp …

So far, autonomous order picking (commissioning) systems have not been able to meet the
stringent demands regarding speed, safety, and accuracy of real-world warehouse …

We introduce a reconfigurable underactuated robot hand able to perform systematic
prehensile in-hand manipulations regardless of object size or shape. The hand utilizes a two …