Robot Hand id.

BH8-series Barrett hand

Barrett technology, inc. USA

DIST Hand

Universita di Genova

Italy

Robonaut Hand

NASA Johnson Space Center

USA

DLR Hand II

DLR-German Aerospace Center

Germany

Ultralight Hand

Research center of Karlsruhe

Germany

GIFU Hand

Gifu University

Japan

Shadow Hand

Shadow Robot Company Ltd

United-Kingdom

UB Hand III

Bologna University

Italy

Year

1997

1998

1999

2000

2000

2001

2004

2004

Status

Commercial use

Research prototype

Research prototype

Research prototype

Research prototype

Research prototype

Available for purchase

Research prototype

Structures and materials

3 fingers (opposable),

Electrical revolute brushless motors,

Spur and worm gear transmissions,

Fair contact surface smoothness

3 fingers and one opposable thumb,

Electrical revolute brushless motors,

Tendons routed through pulleys

4 fingers and one opposable thumb,

Electrical revolute brushless motors,

Flex-shaft + lead screw transmissions,

Kevlar body armor coated with Teflon

4 fingers and one opposable thumb,

Electrical revolute motors,

Harmonic drives/gears transmissions,

Silicone finger surface

4 fingers and one opposable thumb,

Flexible fluidic actuators,

Direct drive transmissions,

Silicone-rubber glove

4 fingers and one opposable thumb,

Built-in DC Maxon servomotors,

Worm gear transmissions

4 fingers and one opposable thumb,

Air Muscles,

Tendons,

Layer of soft polyurethane flesh, Thin polycarbonate fingernails

4 fingers and one opposable thumb,

DC brushed motor,

Pulling tendons,

Continuous compliant pulps

Sensory-motor skills

4 controlled DOF

Motor position sensors (optical incremental encoders)

Strain-gauges based joint torque sensors

16 controlled DOF

Motor position sensors

hall-effect based joint position sensors

3-axis fingertip force sensors

14 controlled DOF (2 wrist + 12 fingers)

Motor position sensors

Joint position sensors Tendon tension sensors

Tactile force sensors (FSR Force Sensing Resistor technology)

13 controlled DOF

Motor position sensors

Joint position sensors (potentiometers) Strain-gauged based joint torque sensors

6-axis fingertip force sensors

13 controlled DOF (3 wrist + 10 fingers)

Joint position bending sensors

Pressure sensors in finger links

16 controlled DOF

Motor position sensors

6-axis fingertip force sensors

Distributed resistive tactile sensors

24 DOF, 20 controlled (16/12 fingers + 5 thumb + 2 wrist + 1 palm)

Muscle pressure sensors

Hall effect based joint position sensors

Distributed tactile force sensors (contact, force, direction)

16 controlled DOF

Motor position sensors

Tendon force sensors

strain gauges based joint position sensors

Feedback control

No sensory feedback

Patented clutch mechanism distributes grasp forces

Patented reconfigurable spreading fingers

Position feedback

No sensory feedback

Position feedback (impedance control)

No sensory feedback

Self adaptable properties of the hand

No sensory feedback

Position feedback (low level joint position and joint stiffness control)

Incomplete sensory feedback

Motor level control

Impedance control

Functional capabilities

Power grasp and precision grasp

Power grasp and precision grasp

Power grasp, precision grasp and human-like fine manipulation

Power grasp, precision grasp and human-like fine manipulation

Power grasp and precision grasp

Power grasp and precision grasp

Power grasp, precision grasp and human like fine manipulation

Power grasp, precision grasp and human like fine manipulation

Autonomy

Non autonomous

Non autonomous

Remotely operated via visual feedback

Pre-planning: performs previously stored trajectories and hand poses

Pre-planning: performs patterns of movements : position and torque of every joints

Non autonomous

Semi-autonomous

Semi autonomous