Review on human-like robot manipulation using dexterous hands

Abstract

In recent years, human hand-based robotic hands or dexterous hands have gained attention due to their enormous capabilities of handling soft materials compared to traditional grippers. Back in the earlier days, the development of a hand model close to that of a human was an impossible task but with the advancements made in technology, dexterous hands with three, four or five-fingered robotic hands have been developed to mimic human hand nature. However, human-like manipulation of dexterous hands to this date remains a challenge. Thus, this review focuses on (a) the history and motivation behind the development of dexterous hands, (b) a brief overview of the available multi-fingered hands, and (c) learning-based methods such as traditional and data-driven learning methods for manipulating dexterous hands. Additionally, it discusses the challenges faced in terms of the manipulation of multi-fingered or dexterous hands.