Dexterous hand towards intelligent manufacturing: A review of technologies, trends, and potential applications
Jiexin Zhang, Huan Zhao, Kuangda Chen, Guanbo Fei, Xiangfei Li, Yiwei Wang, Zeyuan Yang, S Zheng, Shiqi Liu, Han Ding
Abstract
Multi-fingered dexterous hands hold significant potential for addressing manipulation tasks in intelligent manufacturing, owing to their inherent anthropomorphic flexibility and rich perceptual capabilities. However, the functionality of dexterous hands in intelligent manufacturing remains unclear due to current technological limitations. This paper provides a review of the current research status of dexterous hands for manipulation tasks, with a specific focus on key technologies related to structure, perception, grasping, and manipulation skills. Furthermore, this review also highlights potential applications of dexterous hands in intelligent manufacturing, including manufacturing in narrow spaces, bin-picking, and in-situ manufacturing. We also discuss the research challenges for the wide adoption of dexterous hands. This review offers a comprehensive analysis of dexterous hands from a manufacturing perspective, contributing to future technological breakthroughs and the advancement of new-generation intelligent manufacturing.