Authors
U. Kim, D. Jung, H. Jeong, J. Park, H.-M. Jung, J. Cheong, H. R. Choi, H. Do, C. Park

Institution
Ajou University, Suwon, Korea
Korea Institute of Machinery & Materials (KIMM), Daejeon, Korea
Korea University, Sejong, Korea
Sungkyunkwan University, Suwon, Korea

Sources
Integrated linkage-driven dexterous anthropomorphic robotic hand
Video: Motions of the ILDA hand
Video: Cutting a paper using scissors
Video: Handling small objects using tweezers

Authors
G. Gao, C.-M. Chang, L. Gerez, M. Liarokapis

Institution
The University of Auckland, Auckland, New Zealand
Harvard University, Cambridge, USA

Sources
A Pneumatically Driven, Disposable, Soft Robotic Gripper Equipped with Multi-Stage, Retractable, Telescopic Fingers
Video

Authors
A. Bhatt, A. Sieler, S. Puhlmann, O. Brock

Institution
Robotics and Biology Laboratory, Technische Universität Berlin (Berlin, Germany)

Sources
Surprisingly Robust In-Hand Manipulation: An Empirical Study
Video

Authors
C. Liu, S.J. Wohlever, M.B. Ou, T. Padir, S.M.Felton

Institution
Department of Electrical and Computer Engineering, University of California, Los Angeles, USA
Department of Mechanical and Industrial Engineering, Northeastern University, Boston, USA
Institute for Experiential Robotics, Northeastern University, Boston, USA

Sources
Shake and Take: Fast Transformation of an Origami Gripper
Video

Authors
A.T. Mathew, I. Hussain, C. Stefanini, I. M. Ben Hmida, F. Renda

Institution
Khalifa University of Science and Technology, Abu Dhabi, UAE

Sources
ReSoft Gripper: A reconfigurable soft gripper with monolithic fingers and differential mechanism for versatile and delicate grasping

Authors
J. McWilliams, Y. Yuan, J. Friedman, and C. Sung

Institution
University of Pennsylvania, USA

Sources
Push-On Push-Off: A Compliant Bistable Gripper with Mechanical Sensing and Actuation
Video

Authors
J.-Y. Lee, Y.-S. Seo, C. Park, J.-S. Koh, U. Kim, J. Park, H. Rodrigue, B. Kim, S.-H. Song

Institution
Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, Daejeon, South Korea
School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea

Sources
Shape-Adaptive Universal Soft Parallel Gripper for Delicate Grasping Using a Stiffness-Variable Composite Structure

Authors
Y. Hao, S. Biswas, E. Wright Hawkes, T. Wang, M. Zhu, L. Wen, Y. Visell

Institution
Beihang University, Beijing, China
Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
University of California, Santa Barbara, USA

Sources
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction

Authors
S. Yuan, A. Epps, J. Nowak, J. K. Salisbury

Institution
Stanford University, CA, USA

Sources
Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation
Presentation at ICRA 2020
Project Website
Interview with Shenli Yuan

Authors
S. Yuan, L. Shao, C. L. Yako, A. Gruebele, J. K. Salisbury

Institution
Stanford University, CA, USA

Sources
Design and Control of Roller Grasper V2 for In-Hand Manipulation
Project Website
Video

Authors
A. S. Ciullo, J. M. Veerbeek, E. Temperli, A. R. Luft, F. J. Tonis, C. J.W. Haarman, A. Ajoudani, M. G. Catalano, J. P.O. Held, A. Bicchi

Institution
Italian Institute of Technology (IIT), Genoa, Italy
Department for Clinical Neurosciences and Preventive Medicine, Danube University Krems, Krems an der Donau, Austria
Department of Neurology, Division of Vascular Neurology and Neurorehabilitation, University of Zurich, Zürich, Switzerland
Hankamp Rehab, Enschede, The Netherlands

Sources
A Novel Soft Robotic Supernumerary Hand for Severely Affected Stroke Patients

Authors
H. Liu, L. Zhao, B. Siciliano, F. Ficuciello

Institution
Interdepartmental Center for Advances in Robotic Surgery (ICAROS Center), University of Naples Federico II, Naples, Italy

Sources
Modeling, Optimization, and Experimentation of the ParaGripper for In-Hand Manipulation Without Parasitic Rotation
Video

Authors
K. Lee, Y. Wang, C. Zheng

Institution
Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Sources
TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower
Video of OrigamiBot

Authors
Y. Kim

Sources
Interview with Professor Yong-Jae Kim
Video
BLT Gripper : Grasping Mode, Irregular Object, Payload/Repeatability Test, and an Improved Gripper

Authors
T. Shimura, Y. Murai, S. Togo, J. Yinlai, H. Yokoi

Institution
The University of Electro-Communications, Mechanical Engineering and Intelligent Systems, Tokyo, Japan

Sources
Lightweight 10-DOF Robotic Hand With Built-In Wire-Driven Mechanism

Authors
P. H. Nguyen, F. Lopez-Arellano, W. Zhang, P. Polygerinos

Institution
Arizona State University, Polytechnic School Ira A. Fulton Schools of Engineering, Mesa, AZ, USA, 85212

Sources
Design, Characterization, and Mechanical Programming of Fabric-Reinforced Textile Actuators for a Soft Robotic Hand

Authors
Y. Anzai, Y. Sagara, R. Kato, M. Mukai

Institution
Yokohama National University, Graduate school of Engineering, Yokohama, Japan
Tokai University Hachioji Hospital, Department of Surgery, Tokyo, Japan

Sources
Development of a foldable five-finger robotic hand for assisting in laparoscopic surgery

Authors
H. Liu, P. Ferrentino, S. Pirozzi, B. Siciliano, F. Ficuciello

Sources
The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation
Video

Authors
Y. Kim, J. Yoon, Y. Sim

Institution
Department of Electronic Engineering, Korea University of Technology and Education, Cheonan-City, South Korea

Sources
Fluid Lubricated Dexterous Finger Mechanism for Human-Like Impact Absorbing Capability
Video: FLLEX Hand First Run
Video: Payload and Manipulation Test of FLLEX Hand
Video: Basic Concept of FLLEX Hand
Video: FLLEX Hand V2: Robustness and Payload Test

Authors
J. Huang, B. Wu, B. Chen

Institution
Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan, R.O.C

Sources
Seven DOF Three-Finger Robotic Hand with the Pressure/Shear Sensors

Authors
K. H. L. Heung, Z. Q. Tang, L. Ho, M. Tung, Z. Li, R. K. Y. Tong

Institution
Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR

Sources
Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance

Authors
A. V. A. Santos, A. J. Alvares

Institution
Instituto Federal de Rondônia, Porto Velho, RO, Brazil and University of Brasilia, Brasilia, DF, Brazil

Sources
Development of an anthropomorphic robotic hand with tactile perception
Video

Authors
V. E. Abarca, K. M. Flores, D. Elías

Institution
Laboratory of Biomechanics and Applied Robotics Pontificia, Universidad Católica del Perú, Lima, Perú

Sources
The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees
Video of the Octa Hand

Authors
G. B. Mahanta, A. Rout, B. B. V. L. Deepak, B. B. Biswal, B. M. Gunji

Institution
Department of Industrial Design, National Institute of Technology, Rourkela, India

Sources
Preliminary Design and Fabrication of Bio-Inspired Low-Cost Hybrid Soft-Rigid Robotic Hand for Grasping Delicate Objects

Authors
J. C. Triyonoputro, W. Wan, K. Akanesuvan, K. Harada

Institution
Graduate School of Engineering Science, Osaka University, Japan

Sources
A Double-jaw Hand that Mimics A Mouth of the Moray Eel

Authors
W. Song, W. Zhang

Institution
Tsinghua University, Beijing, China

Sources
The CPAM Hand: Coupling-Parallel-Adaption Merged Robot Hand

Authors
Y. Zheng, X. Li, L. Tian, G. Li

Institution
CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences

Sources
Design of a Low-Cost and Humanoid Myoelectric Prosthetic Hand Driven by a Single Actuator to Realize Basic Hand Functions

Authors
X. Wang, Y. Zhao, Y. Xiao, Y. Zhu, Y. Wang

Institution
Shandong Academy of Sciences, Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Qilu University of Technology, Jinan, 250014, China

Sources
Design of a Underactuated Robotic Hand with Three Articulated Fingers

Authors
W. Friedl, H. Höppner, F. Schmidt, M. A. Roa, M. Grebenstein

Institution
German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany

Sources
CLASH: Compliant Low Cost Antagonistic Servo Hands

Authors
W. Friedl, H. Höppner, F. Schmidt, M. A. Roa, M. Grebenstein

Institution
German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany

Sources
CLASH: Compliant Low Cost Antagonistic Servo Hands

Authors
J. Zhou, J. Yi, X. Chen, Z. Liu, Z. Wang

Institution
University of Hong Kong

Sources
BCL-13: A 13-DOF Soft Robotic Hand for Dexterous Grasping and In-Hand Manipulation

Authors
H. Hu, W. Zhang, X. Xu

Institution
Dept. of Mechanical Engineering, Tsinghua University, Beijing, China

Sources
GSR hand: Linear-parallel and self-adaptive hand with gear and sliding-rod mechanisms

Authors
W. Wu, Y. Suzuki, T. Tsuji, T. Watanabe

Institution
Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan

Sources
Gear-rack based underactuated robotic hand

Authors
W. Crooks, S. Rozen-Levy, B. Trimmer, C. Rogers, W. Messner

Institution
Tufts University, Medford, MA, USA

Sources
Passive gripper inspired by Manduca sexta and the Fin Ray® Effect

Authors
T. Wiste, M. Goldfarb

Institution
ELI Beamlines Project, Institute of Physics of the Czech Academy of Sciences, 5. května 835 252 41 Dolní Břežany Czech Republic
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37240 USA

Sources
Design of a simplified compliant anthropomorphic robot hand
Video

Authors
F.v. Drigalski, D. Yoshioka, W. Yamazaki, S.G. Cho, M. Gall, P.M.U. Eljuri, V. Hoerig, M. Ding, J. Takamatsu, T. Ogasawara, J. Beltran

Institution
Robot. Lab., Nara Inst. of Sci. & Technol., Nara, Japan
Dept. of Mech. Sc. & Eng., Nagoya Univ. Furo, Nagoya, Japan

Sources
NAIST Openhand M2S: A Versatile Two-Finger Gripper Adapted for Pulling and Tucking Textile

Authors
L. Wen, Y. Li, M. Cong, H. Lang, Y. Du

Institution
Dalian University of Technology (Dalian, China)

Sources
Design and Optimization of a Tendon-Driven Robotic Hand

Authors
S. H. Jeong, K.-S. Kim, S. Kim

Institution
Mechanical Engineering Department, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

Sources
Designing Anthropomorphic Robot Hand With Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors
Video
Video
Video of PhD summary

Authors

Sources
Video

Authors
D. Liang, J. Song, W. Zhang, Z. Sun, Q. Chen

Institution
Department of Mechanical Engineering, Tsinghua University, Beijing, China

Sources
PASA Hand: A Novel Parallel and Self-Adaptive Underactuated Hand With Gear-Link Mechanisms
PASA Finger: A Novel Parallel and Self-Adaptive Underactuated Finger With Pinching and Enveloping Grasp
Video

Authors
C. Konnaris, C. Gavriel, A.A.C. Thomik, A.A. Faisal

Institution
Imperial College London

Sources
EthoHand: A Dexterous Robotic Hand With Ball-Joint Thumb Enables Complex In-Hand Object Manipulation
Video

Authors
N. Rojas, R.R. Ma, A.M. Dollar

Institution
Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA

Sources
The GR2 Gripper: An Underactuated Hand for Open-Loop In-Hand Planar Manipulation

Authors
M. Controzzi, F. Clemente, D. Barone, A. Ghionzoli, C. Cipriani

Institution
Scuola Superiore Sant’Anna, The BioRobotics Institute, Pisa, Italy

Sources
The SSSA-MyHand: A Dexterous Lightweight Myoelectric Hand Prosthesis
Video

Authors
K.C. Galloway, K.P. Becker, B. Phillips, J. Kirby, S. Licht, D. Tchernov, R.J. Wood, D.F. Gruber

Institution
Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, Massachusetts.
Department of Ocean Engineering, University of Rhode Island, Narragansett, Rhode Island.
Leon Charney School of Marine Sciences, Haifa University, Haifa, Israel
Department of Natural Sciences, Baruch College, City University of New York, New York, New York.

Sources
Soft Robotic Grippers for Biological Sampling on Deep Reefs
Video

Authors
C. Della Santina, G. Grioli, M. G. Catalano, A. Brando, A. Bicchi

Institution
Research Center Enrico Piaggio, University of Pisa, Pisa, Italy
Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy

Sources
Dexterity Augmentation on a Synergistic Hand: The Pisa/IIT SoftHand+
Website
Video

Authors
L. Birglen

Institution
Polytechnique Montréal

Sources
Enhancing Versatility and Safety of Industrial Grippers With Adaptive Robotic Fingers
Video

Authors
M. Tavakoli, R. Batista and L. Sgrigna

Institution
Institute of Systems and Robotics, University of Coimbra, 3030 Coimbra, Portugal

Sources
The UC Softhand: Light Weight Adaptive Bionic Hand With a Compact Twisted String Actuation System
Website
Video

Authors
G. Franchi, A. ten Pas, R. Platt, S. Panzieri

Institution
Department of Mathematics and Computer Science Salisbury University, Salisbury, MD, 21801, USA
College of Computer Science, Northeastern University, Boston, MA, USA

Sources
The Baxter Easyhand: A Robot Hand That Costs $150 US in Parts

Authors
R. R. Ma, A. Spiers, and A. M. Dollar

Institution
Yale University, New Haven, CT 06511, USA

Sources
Website
M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper
Experimentally Driven Design of a Palpating Gripper With Minimally Invasive Surgery Considerations
Video

Authors
J. Shintake, S. Rosset, B.E. Schubert, D. Floreano, H. Shea

Institution
Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Neuchâtel, Switzerland

Sources
Versatile Soft Grippers With Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators
Video

Authors
Y.-J. Kim, Y. Lee, J. Kim, J.-W. Lee, K.-M. Park, K.-S. Roh, J.-Y. Choi

Institution
Samsung Advanced Institute of Technology, Ki-hung gu, Yong-in si., Kyunggi do, Rep. of Korea

Sources
RoboRay hand: A highly backdrivable robotic hand with sensorless contact force measurements
Video

Authors

Sources
Website
Video

Authors
D.M. Aukes, B. Heyneman, J. Ulmen, H. Stuart, M.R. Cutkosky, S. Kim, P. Garcia, A. Edsinger

Institution
Harvard University, Stanford University, SRI International, Meka Robotics

Sources
Design and Testing of a Selectively Compliant Underactuated Hand
Video

Authors
R. Deimel, O. Brock

Institution
Robotics and Biology Laboratory, Technische Universität Berlin (Berlin, Germany)

Sources
Website
A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping

Authors
W. Zhang, Q. Chen, Z. Sun, D. Zhao

Institution
Dept. of Mech. Eng., Tsinghua University, Beijing, China

Sources
Under-actuated passive adaptive grasp humanoid robot hand with control of grasping force

Authors
C. Rossi, S. Savino, V. Niola, S. Troncone

Institution
University Federico II of Naples

Sources
A Study of a Robotic Hand With Tendon Driven Fingers
An Underactuated Multi-Finger Grasping Device
Performance Comparison Between FEDERICA Hand and LARM Hand

Authors
L. U. Odhner, R. R. Ma, A. M. Dollar

Institution
Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA

Sources
Website
Open-Loop Precision Grasping With Underactuated Hands Inspired by a Human Manipulation Strategy
Exploring Dexterous Manipulation Workspaces With the iHY Hand
Video

Authors
R. R. Ma, L. U. Odhner, A. M. Dollar

Institution
Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA

Sources
Website
A Modular, Open-Source 3D Printed Underactuated Hand

Authors
L. U. Odhner, L. P. Jentoft, M. R. Claffee, N. Corson, Y. Tenzer, R. R. Ma, M. Buehler, R. Kohout, R. D. Howe, A. M. Dollar

Institution
Dept. of Mechanical Engineering and Materials Science, Yale University, New Haven CT
School of Engineering and Applied Sciences, Harvard University, Cambridge, MA
iRobot Corporation, Bedford, MA

Sources
Website
A Compliant, Underactuated Hand for Robust Manipulation
Video
Website

Authors
L.U. Odhner, L.P. Jentoft, M.R. Claffee, N. Corson, Y. Tenzer, R.R. Ma, M. Buehler, R. Kohout, R.D. Howe, and A.M. Dollar

Institution
Dept. of Mechanical Engineering and Materials Science, Yale University, New Haven CT
School of Engineering and Applied Sciences, Harvard University, Cambridge, MA
iRobot Corporation, Bedford, MA

Sources
Website
A Compliant, Underactuated Hand for Robust Manipulation

Authors

Sources
Website
Website
Video

Authors
R. Deimel, O. Brock

Institution
Robotics and Biology Laboratory, Technische Universität Berlin (Berlin, Germany)

Sources
Website
A Compliant Hand Based on a Novel Pneumatic Actuator

Authors
M. Ciocarlie, F. Mier Hicks, R. Holmberg, J. Hawke, M. Schlicht, J. Gee, S. Stanford, R. Bahadur

Institution
Willow Garage Inc., Menlo Park, CA, USA

Sources
Website
The Velo Gripper: A Versatile Single-Actuator Design for Enveloping, Parallel and Fingertip Grasps
Website
Video
Video

Authors
V. Tincani, M. G. Catalano, E. Farnioli, M. Garabini, G. Grioli, G. Fantoni, A. Bicchi

Institution
Research Center “E. Piaggio”, University of Pisa

Sources
Velvet Fingers: A Dexterous Gripper With Active Surfaces
Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper With Active Surfaces
Video
Video
Video

Authors
G. Palli, C. Melchiorri, G. Vassura, , U. Scarcia, L. Moriello, G. Berselli, A.Cavallo, G. De Maria, C. Natale, S. Pirozzi, C. May, F. Ficuciello, B. Siciliano

Sources
Innovative Technologies for the Next Generation of Robotic Hands
Development of the UB Hand IV: Overview of Design Solutions and Enabling Technologies
The DEXMART Hand: Mechatronic Design and Experimental Evaluation of Synergy-Based Control for Human-Like Grasping
Experimental Evaluation of Postural Synergies During Reach to Grasp With the UB Hand IV
Development of Robotic Hands: The UB Hand Evolution
Video

Authors

Sources
Website

Mimics the kinematics of a bird's beak (Watt's linkage).

Authors

Sources
Website

Authors
M. Quigley, C. Salisbury, A.Y. Ng, K. Salisbury

Institution
Open Source Robotics Foundation, Mountain View, CA, USA
SRI International, Menlo Park, CA, USA
Computer Science Department, Stanford University, CA, USA

Sources
Mechatronic Design of an Integrated Robotic Hand
Website
Video

Authors
Lacquey Robot Grasping Solutions (Martijn Wisse et al.)

Sources
Website

Authors
Kinova Robotics

Sources
Website

Authors
M. G. Catalano, G. Grioli, A. Serio, E. Farnioli, C. Piazza, A. Bicchi

Institution
Centro Interdipartimentale di Ricerca “E. Piaggio”, Università di Pisa, Italy

Sources
Website
Adaptive Synergies for a Humanoid Robot Hand

Authors
L. Wang, J. DelPreto, S. Bhattacharyya, J. Weisz, P.K. Allen

Institution
Columbia University

Sources
A Highly-Underactuated Robotic Hand With Force and Joint Angle Sensors

Authors
G. Li, H. Liu, W. Zhang

Institution
Department of Mechanical Engineering, Tsinghua University, Beijing, China

Sources
Development of multi-fingered robotic hand with coupled and directly self-adaptive grasp

Authors

Sources
Website
Video
The Bionic Handling Assistant: A Success Story of Additive Manufacturing

Authors

Sources
Website

Authors

Institution
Inst. of Robotics & Syst. Dynamics, German Aerospace Centre, Wessling, Germany

Sources
Website

Authors
F. Ilievski, A.D. Mazzeo, R.F. Shepherd, X. Chen, G.M. Whitesides

Institution
Whitesides Research Group, Harvard University (Cambridge, USA)

Sources
Website
“Soft Robotics for Chemists

Authors
A. Schmitz, U. Pattacini, F. Nori, L. Natale, G. Metta, G. Sandini

Institution
Italian Institute of Technology, 16163 Genova, Italy

Sources
Design, Realization and Sensorization of the Dexterous iCub Hand

Authors

Sources
Website
Video

Authors
F. Kikou

Sources
Website

Authors

Institution
Willow Garage Inc., Menlo Park, CA, USA

Sources
Website

Authors
E. Brown, N. Rodenberg, J.R. Amend, A. Mozeika, E. Steltz, M.R. Zakin, H. Lipson, H.M. Jaeger

Institution
James Franck Institute and Department of Physics, University of Chicago, Chicago, IL 60637
School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853
Robot G and I Research, Bedford, MA 01730
Defense Advanced Research Projects Agency, 3701 North Fairfax Drive, Arlington, VA 22203

Sources
Website
Universal Robotic Gripper Based on the Jamming of Granular Material
A Positive Pressure Universal Gripper Based on the Jamming of Granular Material
Video

Authors
Brown

Sources
Website

Authors
W. Fukui, F. Kobayashi, F. Kojima, H. Nakamoto, T. Maeda, N. Imamura, K. Sasabe, H. Shirasawa

Institution
KOBE UNIVERSITY 1-1 Rokkodai-cho, Nada-ku, KOBE, 657-8501, Japan
Hyogo Prefectural Institute of Technology
Maeda Precision Manufacturing Limited Kobe
Hiroshima International University
The Kansai Electiric Power Co., Inc
The Advanced Materials Processing Institute Kinki Japan

Sources
Development of Multi-Fingered Universal Robot Hand With Torque Limiter Mechanism

Authors
A. Edsinger, J. Weber

Institution
Meka Robotics

Sources
Website
News

Authors
I. N. Gaiser, C. Pylatiuk, S. Schulz, A. Kargov, R. Oberle, T. Werner

Sources
The FLUIDHAND III: A multifunctional Prosthetic Hand
An earlier version (2004): https://www.iai.kit.edu/1717.php

The successor of this hand - The Elumotion Hand 2 - is marketed as the <a target='_blank' href='#Schunk Servo-electric 5-Finger Gripping Hand (SVH)'>Schunk Servo-electric 5-Finger Gripping Hand - SVH</a>.

Authors

Institution
Elumotion Ltd.

Sources
Website

Authors
H. Iwata, S. Sugano

Institution
Sugano Laboratory, Waseda University (Tokyo, Japan)

Sources
Website
Design of Human Symbiotic Robot TWENDY-ONE
A Motion Control for Dexterous Manipulation With Human Mimetic Hand-Arm System
Video

Authors
I. Gaiser, S. Schulz, A. Kargov, H. Klosek, A. Bierbaum, C. Pylatiuk, R. Oberle, T. Werner, T. Asfour, G. Bretthauer, R. Dillmann

Institution
Karlsruhe Institute of Technology

Sources
A New Anthropomorphic Robotic Hand

Authors
V.Q. Nguyen, S.B. Oh, J.U. Lim, C.H. Kang, S.H. Han

Institution
Kyungnam University (Masan, Korea)

Sources
A Study on Design of Three - Finger Hand System

Authors
D. Ng

Sources
Website

An 8 meter long hydraulically-actuated arm and hand that preferably crushes cars. It can lift up to 900kg and is controlled by an exoskeleton-like glove device. First shown at Burning Man 2008, the Hand Of Man took 6 months to build and cost around $40k.

Authors
C. Ristow

Sources
Project Website
Video
Video

Authors
H. Liu, K. Wu, P. Meusel, G. Hirzinger, M.H. Jin, Y.W. Liu, S.W. Fan, T. Lan, Z.P. Chen

Institution
DLR German Space Agency
Harbin Institute of Technology

Sources
A Dexterous Humanoid Five-Fingered Robotic Hand
Multisensory Five-Finger Dexterous Hand: The DLR/HIT Hand II
Website

Authors
G. Carbone, M. Ceccarelli

Institution
University of Cassino (Cassino, Italy)

Sources
Design of LARM Hand: Problems and Solutions
Performance Comparison Between FEDERICA Hand and LARM Hand

Authors

Sources
Manual: SDH2 - Servo-electric 3-finger gripping hand
Data sheet

Authors
C. Y. Brown, H. H. Asada

Institution
Massachusetts Institute of Technology (Cambridge, USA)

Sources
Inter-Finger Coordination and Postural Synergies in Robot Hands via Mechanical Implementation of Principal Components Analysis

Authors
S. Jung, S. Kang, M. Lee, I Moon

Institution
Dong-Eui University (Pusan, Korea)

Sources
Design of Robotic Hand With Tendon-Driven Three Fingers

Authors
Touch Bionics

Sources
Website
Website

Authors

Institution
KTH Royal Institute of Technology (Stockholm, Sweden)

Sources
Website

Authors
C. S. Loh, H. Yokoi, T. Arai

Sources
Website
New Shape Memory Alloy Actuator: Design and Application in the Prosthetic Hand

Authors
Carrozza et al.

Sources
Website

Authors
A.M. Dollar, R.D. Howe

Institution
Biorobotics Laboratory, Harvard University (Cambridge, USA)

Sources
Website

Authors
I. Yamano, Y. Kamikawa, T. Maeno

Institution
Keio University (Yokohama, Japan)

Sources
Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements
Underactuated Five-Finger Prosthetic Hand Inspired by Grasping Force Distribution of Human

Authors
J.L. Pons, E. Rocon, R. Ceres, D. Reynaerts, B. Saro, S. Levin, W. Van Moorleghem

Institution
Consejo Superior de Investigaciones Cient ́ıficas, Arganda del Rey, Spain
Katholieke Universiteit Leuven, Belgium
Centro de Recuperaci ́on de Minusvalidos F ́ısicos, IMSERSO, Spain
Alorman Advanced Medical Technologies Ltd., Israel
Advanced Material Technologies N.V., Belgium

Sources
The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects
Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

Authors
F. Lotti, P. Tiezzi, G. Vassura, L. Biagiotti, C. Melchiorri

Institution
DIEM, Bologna Univ., Italy
University of Modena and Reggio Emilia, Modena, Italy

Sources
UBH 3: An Anthropomorphic Hand With Simplified Endo-Skeletal Structure and Soft Continuous Fingerpads
Website
Development of UB Hand 3: Early Results
Video

Authors
M.C. Carrozza, C. Supppo, F. Sebastiani, B. Massa, F. Vecchi, R. Lazzarini, M.R. Cutkosky, P. Dario

Institution
ARTS Lab, Scuola Superiore Sant'Anna, Polo Sant'Anna Valdera, viale Rinaldo Piaggio, 34, 56025 Pontedera (PI), Italy
Centro INAIL RTR, via Vetraia, 7, 55049 Viareggio (LU), Italy
Design Division, Department of Mechanical Engineering, Stanford University

Sources
The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping
Website

Authors
A.D. Deshpande, Z. Xu, M.J. Vande Weghe, B.H. Brown, J. Ko, L.Y. Chang, D.D. Wilkinson, S.M. Bidic, M. Rogers, M. Weissert, Y. Matsuoka

Institution
Carnegie Mellon University (Pittsburgh, USA)
University of Washington (Seattle, USA)
University of Texas (Austin, USA)

Sources
Website
Website
The ACT Hand: Design of the Skeletal Structure
Mechanisms of the Anatomically Correct Testbed Hand
Development of an Anatomically Correct Testbed (ACT) Hand
Anatomically Correct Testbed Hand Control: Muscle and Joint Control Strategies

Authors

Institution
DLR German Space Agency
Harbin Institute of Technology

Sources
Website
Data sheet

Authors
M. Kaneko, M. Higashimori, R. Takenaka, A. Namiki, M. Ishikawa

Institution
Kaneko Higashimori Laboratory, Osaka University

Sources
Website
The 100G capturing robot — Too fast to see
Design of the 100G capturing robot based on dynamic preshaping

Authors
T. Mouri, H. Kawasaki, K. Yoshikawa, J. Takai, S. Ito

Institution
Gifu University (Gifu, Japan)

Sources
Anthropomorphic Robot Hand: Gifu Hand III

Authors
M.C. Carrozza, B. Massa, S. Micera, R. Lazzarini, M. Zecca, P. Dario

Institution
Arts/Crim Labs, Scuola Superiore Sant'Anna, (Pisa, Italy)

Sources
The Development of a Novel Prosthetic Hand - Ongoing Research and Preliminary Results

Authors
T. Kang, H. Choi, M. Kim

Institution
Sungkyunkwan University (Seoul, Korea)

Sources
Development of Anthropomorphic Robot Hand SKK Robot Hand I
Website

Authors
B. Massa, S. Roccella, M.C. Carrozza, P. Dario

Institution
ARTS/Mitech Laboratories (Pisa, Italy)

Sources
Design and development of an underactuated prosthetic hand
Experimental Analysis of an Innovative Prosthetic Hand With Proprioceptive Sensors

Authors

Institution
The Shadow Robot Company (London, UK)

Sources
Website

Authors
C.M. Seguna, M.A. Saliba

Institution
Dept. of Manuf. Eng., Univ. of Malta, Malta

Sources
The Mechanical and Control System Design of a Dexterous Robotic Gripper

Authors
J. Butterfass, M. Grebenstein, H. Liu, G. Hirzinger

Institution
Inst. of Robotics & Syst. Dynamics, German Aerospace Centre, Wessling, Germany

Sources
Website
DLR-Hand II: Next generation of a Dextrous Robot Hand
DLR Hand II: Experiments and Experience with an Anthropomorphic Hand
Data Sheet of DLR Hand II

Authors
J.P. Gazeau, S. Zehloul, M. Arsicault, J.P. Lallemand

Institution
Lab. de Mecanique des Solides, Poitiers Univ., France

Sources
The LMS Hand: Force and Position Controls in the Aim of the Fine Manipulation of Objects

Authors
S. Schulz, C. Pylatiuk, G. Bretthauer

Institution
University of Karlsruhe (Karlsruhe, Germany)

Sources
A New Ultralight Anthropomorphic Hand

Authors
L. Biagiotti, C. Melchiorri, G. Vassura

Institution
University of Bologna (Bologna, Italy)

Sources
Control of a Robotic Gripper for Grasping Objects in No-Gravity Conditions.

Authors
Y. Zhang, Z. Han, H. Zhang, X. Shang, T. Wang, W. Guo, W.A. Gruver

Institution
Beijing University of Aeronautics and Astronautics (Beijing, China)

Sources
Design and Control of the BUAA Four-Fingered Hand

Authors
C.M. Light, P.H. Chappell

Institution
University of Southampton (Southampton, UK)

Sources
Development of a lightweight and adaptable multiple-axis hand prosthesis
Website
Website

Authors
T. Lalibert́é, C.M. Gosselin

Institution
Université Laval (Quebec, Canada)

Sources
Website
Actuation System for Highly Underactuated Gripping Mechanism. US Patent No. 6 505 870
Video
Website
Website

Authors
N. Dechev, W.L. Cleghorn, S. Naumann

Institution
Department of Mechanical and Industrial Engineering, University of Toronto

Sources
Multi-Segmented Finger Design of an Experimental Prosthetic Hand
Multiple finger, passive adaptive grasp prosthetic hand
Presentation Slides: TBM Hand: Multi-Fingered, Adaptive Grasp Prosthetic Hand: Better Function and Cosmesis

Authors
A.M. Ramos, I.A. Gravagne, I.D. Walker

Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Sources
Goldfinger: A Non-Anthropomorphic, Dextrous Robot Hand

Authors
C.S. Lovhik, M.A. Diftler

Sources
Website

Authors
G. Hirzinger, J. Butterfaß, S. Knoch, H. Liu

Institution
Inst. of Robotics & Syst. Dynamics, German Aerospace Centre, Wessling, Germany

Sources
Website
DLR's Multisensory Articulated Hand: I. Hard- And Software Architecture
DLR's Multisensory Articulated Hand

Authors
D.M. Lane, J.B.C. Davies, G. Casalino, G. Bartolini, G. Cannata, G. Veruggio, M. Canals, C. Smith, D.J. O’Brien, M. Pickett, G. Robinson, D. Jones, E. Scott, A. Ferrara, D. Angelleti, M. Coccoli, R. Bono, P. Virgili, R. Pallas, E. Gracia

Institution
Dept. of Comput. & Electr. Eng., Heriot-Watt Univ., Edinburgh, UK

Sources
Advanced Manipulation for Deep Underwater Sampling
The Amadeus Project: An Overview

Authors
A. Caffaz, S. Bernieri, G. Cannata, G. Casalino, G. Panin, E. Massucco

Sources
The DIST-Hand Robot
The Design and Development of the DIST-Hand Dextrous Gripper
Website
Underactuated Mechanical Finger With Return Actuation US Patent No. 5,762,390
Video

Authors
L.R. Lin, H.P. Huang

Institution
National Taiwan University

Sources
Mechanism Design of a New Multifingered Robot Hand

The active DOFs also include a wrist roll joint.

Authors
D. A. Theobald, W. J. Hong, A. Madhani, B. Hoffman, G. Niemeyer, L. Cadapan, J.-J. Slotine, K. Salisbury

Institution
MIT Artificial Intelligence Laboratory, Cambridge, USA

Sources
Autonomous Rock Acquisition

Authors
J.D. Crisman, C. Kanojia, I. Zeid

Institution
Dept. of Electr. & Comput. Eng., Northeastern Univ., Boston, MA, USA

Sources
Graspar: A Flexible, Easily Controllable Robotic Hand
Website

Authors
M. Ebner, R.S. Wallace

Institution
Courant Institute, New York University

Sources
A Direct-Drive Hand: Design, Modeling and Control

Authors
T. Okada, P. Rosa

Institution
Information Engineering Department, Niigata University, 950-21 Niigata-shi, Ikarashi 2-8050, Japan

Sources
On the Design of a 'Scrollic' Gripper for Firm 3D Grasping
3-D Firm Grasps With the SCROLLIC Gripper

Authors
M. Bergamasco, S. Scattareggia Marchese, P.J. Kyberd, O.E. Holland, P.H. Chappell, S. Smith, R. Tregidgo, P.J. Bagwell, M. Snaith

Institution
S.M. Scienzia Machinale, Pisa, Italy
Oxford Orthopaedic Engineering Centre, Oxford, UK
University of West of England, Bristol, UK
University of Southampton, Southampton, UK

Sources
MARCUS: a two degree of freedom hand prosthesis with hierarchical grip control
The mechanical design of the MARCUS prosthetic hand

Authors
W. Jongkind

Institution
Delft Univ. of Technol., Netherlands

Sources
Thesis: Dextrous gripping in a hazardous environment
Dextrous Gripping in a Hazardous Environment: Guidelines, Fault Tolerance and Control

Authors
R. Menzel, K. Woelfl, F. Pfeiffer

Institution
University Muenchen, Germany

Sources
The development of a hydraulic hand
Grasping with a dextrous robotic hand
Grasp Strategies for a Dextrous Robotic Hand

Authors
H. Hashimoto, H. Ogawa, M. Obama, T. Umeda, K. Tatuno, T. Furukawa

Sources
Development of a Multi-Fingered Robot Hand With Fingertip Tactile Sensors

Authors
M.S. Ali, K.J. Kyriakopoulos, H.E. Stephanou

Institution
Rensselaer Polytech. Inst., Troy, NY, USA

Sources
The Kinematics of the Anthrobot-2 Dexterous Hand

Was sold on eBay in 2009.

Authors
M. Rosheim

Sources
Website
NTRS - NASA Technical Reports Server
Video
Video

Authors
H. Odeberg

Sources
Advances in sensor conrolled robotics: Multi-sensor data processing and the Linköping hand

Authors
G. Guo, W.A. Gruver, X. Qian

Sources
A New Design for a Dextrous Robotic Hand Mechanism

Authors
G. Vassura, C. Melchiorri

Sources
Mechanical and Control Features of the University of Bologna Hand Version 2
Development of Robotic Hands: The UB Hand Evolution

Authors
T. Matsui, T. Omata, Y. Kuniyoshi

Sources
Multi-Agent Architecture for Controlling a Multifingered Robot

Authors
H. Endo, M. Wanda

Sources
Grasping Control of Serial-Link Hand Based on Tactile Sensors

Authors
B.M. Jau

Institution
Jet Propulsion Laboratory, California Institute of Technology

Sources
Man-Equivalent Telepresence Through Four Fingered Human-Like Hand System

Authors
C. Schwartzinger

Sources
Strain gauges as sensors for controlling the manipulative robot hand OEDIPUS

Authors
R.M. Crowder

Institution
University of Southampton (Southampton, UK)

Sources
An Anthropomorphic Robotic End Effector

Authors
T. Oomichi, A. Okino, M. Higuchi, A. Maekawa, K. Ohnishi

Institution
Mitsubishi Heavy Ind. Ltd., Res. & Dev. Center, Hyogo, Japan

Sources
Development of Working Multifinger Hand Manipulator
Intelligent control of four fingered manipulator system

Authors
W. Paetsch, M. Kaneko

Institution
Technical University of Darmstadt, Germany
Kyushu Institute of Technology, Iizuka, Japan

Sources
A Three Fingered Multijointed Gripper for Experimental Use
Exemplarische Untersuchungen Zu Mehrfingrigen Robotergreifern: Aufbau — Regelung — Systemintegration

Authors
H. Maekawa, M. Kaneko

Sources
Robot hand with three fingers
Development of a Three-Fingered Robot Hand With Stiffness Control Capability

Authors
R.A. Russell

Sources
Robot tactile sensing

Authors
N. Mimura

Sources
Articulated hand US Patent No. 5062673

Authors
Y. Maeda, S. Tachi, A. Fujikawa

Sources
Development of an Anthropomorphic Hand (Mark-1)

Authors
H. Van Brussel, B. Santoso, D. Reynaerts

Sources
Design and Control of a multi-fingered robot hand provided with tactile feedback

Authors
K. Yamafuji, T. Maeda

Sources
Development of a Multiprocessor Controlled Robot Hand

Authors
T.J. Doll, H.J. Schneebeli

Institution
Institute for Real-Time Computer Control and Robotics, Faculty for Informatics, University of Karlsruhe, Karlsruhe, Germany

Sources
The Karlsruhe Hand

There were three models of this hand with varying numbers of motors.

Authors
R. Tomovic, G. Boni, G. Bekey

Sources
Website
An adaptive artificial hand

Authors
N. Ulrich, W.T. Townsend

Sources
Website
Grasping With Mechanical Intelligence

Authors
T. J. Metzner

Institution
Oklahoma State University, Stillwater, Oklahoma, USA

Sources
Thesis: Design of a Dexterous Mechanical Hand

Authors
B. Schena

Institution
Odetics Inc.

Sources
Website

Authors
E.R. Snow, M.C. Leu

Sources
The design and development of a general purpose gripper

Authors
S. Sugano, I. Kato

Sources
Website
Website
WABOT-2: Autonomous Robot With Dexterous Finger-Arm Coordination in Keyboard Performances
Video of WABOT-2 playing a keyboard

Authors
Kato

Sources
Development of Waseda robot: the study of biomechanisms at Kato laboratory
Website
Website

Authors
J. Kim, D. Blythe, D. Penny, A. Goldenberg

Institution
University of Toronto

Sources
Computer Architecture and Low Level Control of the PUMA/RAL Hand System: Work in Progress

Authors
S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, K. Biggers

Institution
University of Utah

Sources
Website
Design of the Utah/M.I.T. Dextrous Hand

Authors
T. Oomichi, T. Miyatake, A. Maekawa, J. Nakayama

Sources
Analysis and evaluation for fingered manipulators supported by master slave control

Authors
H. Hanafusa, T. Yoshikawa, Y. Nakamura, K. Nagai

Sources
Structural analysis and robust prehension of robotic hand arm systems

Authors
S.R. Lucas, C.R. Tischler, A.E. Samuel, P.R. Ridley

Institution
Department of Mechanical and Manufacturing Engineering, University of Melbourne, Victoria, Australia

Sources
The Melbourne Hand
Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand
Mechanics and Control of an Articulated, Multi-fingered Robot Gripper (M.Sc. Thesis by P.R. Ridley)

Authors
P. Chaudhuri, D.H. Fredericksen

Sources
Patent
Robot hand with shape memory musculature

Authors
P.B. Scott

Institution
Imperial College (London, England)

Sources
The ‘Omnigripper’: A Form of Robot Universal Gripper

Authors
J.C. Guinot, P. Bidaud, J.P. Lallemand

Sources
Mechanical Analysis of a Gripper Manipulator

Authors
Y. Nakano, M. Fujie, Y. Hosada

Sources
Hitachi robot hand

Authors
D.A. Petersen

Sources
Development of a 16-Axis End Effector

Authors
S. Hirose, Y. Umetani

Institution
Department of Physical Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, Japan

Sources
The Kinematics and Contorol of a Soft Gripper for the Handling of Living of Fragile Objects

Authors
M. Caporali, M. Shahinpoor

Sources
Design and Construction of a 5-Fingered Robotic Hand

Authors
H. Hanafusa, H. Kobayashi, K. Terasaki

Institution
University Meji

Sources
Fine Control of the Object with Articulated Multi-Finger Robot Hands
Control and Geometrical Considerations for an Articulated Robot Hand

Authors
D. Abramowitz, J. Goodenow, B. Paul

Sources
Pennsylvania articulated mechanical hand - an end effector to determine shape by touch
Feeling by Grasping

Authors
K. Salisbury

Sources
Kinematic and Force Analysis of Articulated Hands
Video

Authors
L.D. Lian, S. Peterson, M. Donath

Institution
University Minnesota

Sources
A three fingered, articulated, robotic hand

Authors
A. Rovetta, I. Franchetti, P. Vicentini

Institution
Politecnico di Milano

Sources
Multi-purpose mechanical hand
Sensor Controlled Multifunction Robot Hand

Authors
T. Okada

Sources
Website
Computer Control of Multijointed Finger System for Precise Object-Handling
Website

Authors
H.F.M. Van Der Loos

Institution
Institute of Microtechnique, Swiss Federal Institute of Technology, Switzerland

Sources
Design of a Three-Fingered Robot Gripper

Authors
S. Hirose, Y. Umetani

Institution
Department of Physical Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, Japan

Sources

Authors
I. Kato

Institution
Waseda University

Sources
The Evaluation Method of Rehabilitation Devies -Field Testing of Powered Forearm Prothesis, WIME Hand
Kato, Sadamoto: Mechanical Hands Illustrated (page 51)

Authors
Chuo University

Sources
Kato, Sadamoto: Mechanical Hands Illustrated
Classification of Grasped Object's Shape by an Artificial Hand With Multi-Element Tactile Sensors

Authors
H. Hanafusa, H. Asada

Sources
Stable Prehension by a Robot With Elastic Fingers
A robot hand with elastic figers and its application to assembly process

Authors
F.R.E. Crossley, F.G. Umholtz

Institution
Massachusetts Univ., Amherst, MA, United States

Sources
Design for a three-fingered hand

Authors
S. Hirose, Y. Umetani

Institution
Department of Physical Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, Japan

Sources
Website
The Development of Soft Gripper for the Versatile Robot Hand
Video

Authors
F. Skinner

Sources
Multiple prehension hands for assembly robots
US Patent No. 3866966

Authors

Institution
Kumamoto University

Sources
Kato, Sadamoto: Mechanical Hands Illustrated (page 52)

Authors
T. Yamashita

Sources
Mechanical Fingers Controlled by Machine and Their Applications to Materials Handling

Authors
H.A. Ernst

Institution
International Business Machines Corporation, San Jose Research Laboratory, San Jose, California

Sources
MH-1: A Computer Operated Mechanical Hand
Ernst Arm-MH-1: A Computer-Controlled Mechanical Hand

Authors
Auguste Rodin

Sources
Website

Authors
Götz von Berlichingen

Sources
Wikipedia