Hands in the Real World.
benchmarking
control
design
dexterous manipulation
field robotics
hands
mechanisms
sensing
Journal
Frontiers in robotics and AI
ISSN: 2296-9144
Titre abrégé: Front Robot AI
Pays: Switzerland
ID NLM: 101749350
Informations de publication
Date de publication:
2019
2019
Historique:
received:
23
06
2019
accepted:
13
12
2019
entrez:
27
1
2021
pubmed:
28
1
2021
medline:
28
1
2021
Statut:
epublish
Résumé
Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors-fixtures, grippers or hands-as these machines perform manual tasks. Yet, effective deployment of versatile robot hands in the real world is still limited to few examples, despite decades of dedicated research. In this paper we review hands that found application in the field, aiming to discuss open challenges with more articulated designs, discussing novel trends and perspectives. We hope to encourage swift development of capable robotic hands for long-term use in varied real world settings. The first part of the paper centers around progress in artificial hand design, identifying key functions for a variety of environments. The final part focuses on the overall trends in hand mechanics, sensors and control, and how performance and resiliency are qualified for real world deployment.
Identifiants
pubmed: 33501162
doi: 10.3389/frobt.2019.00147
pmc: PMC7806114
doi:
Types de publication
Journal Article
Review
Langues
eng
Pagination
147Informations de copyright
Copyright © 2020 Negrello, Stuart and Catalano.
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