© 2014

Approaching Human Performance

The Functionality-Driven Awiwi Robot Hand


  • Addresses a wide range of topics in robotics through a new approach to an anthropomorphic robot, which can be extended to system design

  • Presents functional analyses of both human and robotic hands, which forms the basis of the robot hand design and helps to distill a set of comprehensive guidelines for robot hand designers

  • Proves that the kinematics designed using this approach achieve a new paradigm in grasp performance by matching full sets of well know grasp taxonomies


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 98)

Table of contents

  1. Front Matter
    Pages 1-30
  2. Markus Grebenstein
    Pages 1-9
  3. Markus Grebenstein
    Pages 11-37
  4. Markus Grebenstein
    Pages 39-63
  5. Markus Grebenstein
    Pages 131-148
  6. Markus Grebenstein
    Pages 149-153
  7. Back Matter
    Pages 155-207

About this book



Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands:

- Robustness against impacts

- Fast dynamics

- Human-like grasping and manipulation performance

Instead of blindly copying human anatomy, this book opts for a holistic design methodology. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics. They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book.

This is not only a handbook for robot hand designers. It gives a comprehensive survey and analysis of the state of the art in robot hands as well as the human anatomy. It is also aimed at researchers and roboticists interested in the underlying functionalities of hands, grasping and manipulation.

The methodology of functional abstraction is not limited to robot hands, it can also help realize a new generation of humanoid robots to accommodate a broader spectrum of the needs of human society.


Antagonism Anthropomorphism Compliant Actuation Fast Dynamics Functional Abstraction Humanoids Robot Hand Robot Hand Design Robustness

Authors and affiliations

  1. 1.Department of Mechatronic Components and SystemsInstitute of Robotics and Mechatronics, German Aerospace Center e.V. (DLR)WeßlingGermany

Bibliographic information

  • Book Title Approaching Human Performance
  • Book Subtitle The Functionality-Driven Awiwi Robot Hand
  • Authors Markus Grebenstein
  • Series Title Springer Tracts in Advanced Robotics
  • Series Abbreviated Title Spr.Tracts in Adv.Robotics
  • DOI
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-319-03592-5
  • Softcover ISBN 978-3-319-34712-7
  • eBook ISBN 978-3-319-03593-2
  • Series ISSN 1610-7438
  • Series E-ISSN 1610-742X
  • Edition Number 1
  • Number of Pages XXXIV, 209
  • Number of Illustrations 31 b/w illustrations, 133 illustrations in colour
  • Topics Robotics and Automation
    Artificial Intelligence
  • Buy this book on publisher's site
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