Hands in the Real World

Abstract

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.

Suitability of the Openly Accessible 3D Printed Prosthetic Hands for War-Wounded Children

“…The emergence of 3D printing has opened many opportunities for artificial hands for assistive purposes (Tian et al, 2017 ; Negrello et al, 2020 ). This paper endeavored to answer whether the openly accessible designs of body-powered 3D printed prosthetic hands are suitable and affordable for the harsh environmental conditions of the war-wounded.…”

Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions

“…The versatility of the human hand in manipulation is still barely emulated by robotic grippers [1,2]. In the last few decades, industrial production line needs have been effectively satisfied by single-purpose end-effectors that can be programmed to perform repetitive specific tasks at high speeds [3].…”

“…Bringing human manipulation capabilities to harsh environments is a challenge that must overcome traditional design and robotic concepts [2], and presents a multidisciplinary problem. It involves, for example, a choice of design materials that can withstand particular conditions, additional dynamic components that must be accounted for in control architecture, sensory redundancy to counteract the occurrence of any occlusion (e.g., [6]), management of communication issues, and so on.…”

A survey on bio-signal analysis for human-robot interaction

“…A range of fields must collaborate, analyze human behavior when interacting with robots in various social circumstances, and design the aesthetics of the robot's embodiment and behavior and the domain knowledge required for specific applications. Due to the numerous disciplinary jargon and processes [3]. Monitoring and evaluating the patient's physiological data is crucial in physical therapy to assess treatment effects and regulate assistive devices during the rehabilitation process.…”