Abstract
Designing an anthropomorphic hand is a multidisciplinary challenge that comprises several key aspects such as kinematics, actuation and the design of the hand itself. The following gives an overview of the most relevant existing hands. It will present current methods to synthesize hand kinematics followed by a short overview of recent passively compliant robots as well as existing variable stiffness actuation concepts and joints.
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© 2014 Springer International Publishing Switzerland
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Grebenstein, M. (2014). Analysis of the Current State of Robot Hands. In: Approaching Human Performance. Springer Tracts in Advanced Robotics, vol 98. Springer, Cham. https://doi.org/10.1007/978-3-319-03593-2_2
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DOI: https://doi.org/10.1007/978-3-319-03593-2_2
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03592-5
Online ISBN: 978-3-319-03593-2
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