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REVIEW article

Front. Neurorobot.
Volume 18 - 2024 | doi: 10.3389/fnbot.2024.1513458
This article is part of the Research Topic Insights in Neurorobotics: 2023-2024 View all 8 articles

Critical Review on the Relationship Between Design Variables and Performance of Dexterous Hands: A Quantitative Analysis

Provisionally accepted
Lei Jiang Lei Jiang 1,2,3,4Yanhong Liang Yanhong Liang 1,2,3,4Yongbin Jin Yongbin Jin 1,2,3,4Hongtao WANG Hongtao WANG 1,2,3,4*
  • 1 Center for X-mechanics, Zhejiang University, Hangzhou, Jiangsu Province, China
  • 2 ZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, China
  • 3 State Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou, China
  • 4 Institute of Applied Mechanics, Zhejiang University, Hangzhou, China

The final, formatted version of the article will be published soon.

    Dexterous hands play vital roles in tasks performed by humanoid robots. For the first time, we quantify the correlation between design variables and the performance of 65 dexterous hands using Cramé r's V. Comprehensive cross-correlation analysis quantitatively reveals how the performance, such as speed, weight, fingertip force, and compactness are related to the design variables including degrees of freedom (DOF), structural form, driving form, and transmission mode. This study shows how various design parameters are coupled inherently, leading to compromise in performance metrics. These findings provide a theoretical basis for the design of dexterous hands in various application scenarios and offer new insights for performance optimization.

    Keywords: Dexterous hands, Design variables, Performance Correlation, Degrees of freedom, cross-correlation analysis

    Received: 18 Oct 2024; Accepted: 30 Dec 2024.

    Copyright: © 2024 Jiang, Liang, Jin and WANG. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

    * Correspondence: Hongtao WANG, Center for X-mechanics, Zhejiang University, Hangzhou, 310058, Jiangsu Province, China

    Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.