{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,23]],"date-time":"2026-07-23T19:57:26Z","timestamp":1784836646911,"version":"3.55.0"},"reference-count":252,"publisher":"Annual Reviews","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Annu. Rev. Control Robot. Auton. Syst."],"published-print":{"date-parts":[[2019,5,3]]},"abstract":"<jats:p> This article reports on the state of the art of artificial hands, discussing some of the field's most important trends and suggesting directions for future research. We review and group the most important application domains of robotic hands, extracting the set of requirements that ultimately led to the use of simplified actuation schemes and soft materials and structures\u2014two themes that clearly emerge from our examination of developments over the past century. We provide a comprehensive analysis of novel technologies for the design of joints, transmissions, and actuators that enabled these trends. We conclude by discussing some important new perspectives generated by simpler and softer hands and their interaction with other aspects of hand design and robotics in general. <\/jats:p>","DOI":"10.1146\/annurev-control-060117-105003","type":"journal-article","created":{"date-parts":[[2019,5,3]],"date-time":"2019-05-03T20:43:43Z","timestamp":1556916223000},"page":"1-32","source":"Crossref","is-referenced-by-count":314,"title":["A Century of Robotic Hands"],"prefix":"10.1146","volume":"2","author":[{"given":"C.","family":"Piazza","sequence":"first","affiliation":[{"name":"Centro di Ricerca \u201cE. Piaggio\u201d and Dipartimento di Ingegneria Informatica, Universit\u00e0 di Pisa, 56122 Pisa, Italy;"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"G.","family":"Grioli","sequence":"additional","affiliation":[{"name":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, 16163 Genova, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M.G.","family":"Catalano","sequence":"additional","affiliation":[{"name":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, 16163 Genova, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A.","family":"Bicchi","sequence":"additional","affiliation":[{"name":"Centro di Ricerca \u201cE. Piaggio\u201d and Dipartimento di Ingegneria Informatica, Universit\u00e0 di Pisa, 56122 Pisa, Italy;"},{"name":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, 16163 Genova, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"22","reference":[{"key":"B1","first-page":"4","volume":"2","author":"Alpenfels EJ","year":"1955","journal-title":"Artif. Limbs"},{"key":"B2","doi-asserted-by":"publisher","DOI":"10.1177\/229255031402200111"},{"key":"B3","doi-asserted-by":"publisher","DOI":"10.1109\/70.897777"},{"key":"B4","volume-title":"How far is the human hand? A review on anthropomorphic robotic end-effectors","author":"Biagiotti L","year":"2004"},{"key":"B5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1986.1087395"},{"key":"B6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772420"},{"key":"B7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932538"},{"key":"B8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.802720"},{"key":"B9","unstructured":"9.\u2002 Shadow Robot Co.  2018.  Shadow Dexterous Hand.  Shadow Robot Company.  https:\/\/www.shadowrobot.com\/products\/dexterous-hand"},{"key":"B10","doi-asserted-by":"publisher","DOI":"10.14482\/inde.32.2.4715"},{"key":"B11","doi-asserted-by":"publisher","DOI":"10.3390\/robotics5020011"},{"key":"B12","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.12.005"},{"key":"B13","doi-asserted-by":"publisher","DOI":"10.9790\/3021-020512511254"},{"key":"B14","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2011.10.0188"},{"key":"B15","first-page":"31","volume":"8","author":"Vujaklija I","year":"2016","journal-title":"Orthop. Res. Rev"},{"key":"B16","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2600527"},{"key":"B17","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.036"},{"key":"B18","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2013.2255424"},{"key":"B19","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-016-0157-2"},{"key":"B20","unstructured":"20.\u2002 IEEE Tech. Comm. Robot. Hand Grasping Manip.  2016.  Robotic Grasping and Manipulation Competition.  IEEE Technical Committee on Robotic Hand Grasping and Manipulation.  http:\/\/www.rhgm.org\/activities\/competition_iros2016"},{"key":"B21","unstructured":"21.\u2002 Dipo Power.  2018.  Dipo Power website.  http:\/\/dipo-power.com"},{"key":"B22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913518998"},{"key":"B23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354209"},{"key":"B24","doi-asserted-by":"crossref","first-page":"431","DOI":"10.1109\/TNSRE.2014.2342158","volume":"23","author":"Smit G","year":"2015","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"B25","volume-title":"Multi-grasp prosthetic hand","author":"Belter JT","year":"2016"},{"key":"B26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915592961"},{"key":"B27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001836"},{"key":"B28","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2015.2482543"},{"key":"B29","volume-title":"Artificial hand","author":"Dorrance DW","year":"1912"},{"key":"B30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-33009-8_13"},{"key":"B31","volume-title":"Artificial hand","author":"Pringle A","year":"1919"},{"key":"B32","unstructured":"32.\u2002 Becker Mech. Hand Co.  2018.  Products.  Becker Mechanical Hand Company.  http:\/\/www.beckermechanicalhand.com\/products"},{"key":"B33","first-page":"133","volume":"4","author":"Reiter R","year":"1948","journal-title":"Grenzgebiete Med."},{"key":"B34","volume-title":"Artificial hand","author":"Dale FL","year":"1948"},{"key":"B35","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1962.1105456"},{"key":"B36","first-page":"1268","volume":"91","author":"Sherman ED","year":"1964","journal-title":"Can. Med. Assoc. J."},{"key":"B37","doi-asserted-by":"publisher","DOI":"10.1007\/BF02474360"},{"key":"B38","volume-title":"Artificial hand for prostheses with bioelectrical control","author":"Moiseevich B","year":"1970"},{"key":"B39","unstructured":"39.\u2002 Ottobock.  2018.  Solution overview: upper limb prosthetics.  Ottobock.  http:\/\/www.ottobockus.com\/prosthetics\/upper-limb-prosthetics\/solution-overview\/"},{"key":"B40","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(77)90060-X"},{"key":"B41","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(78)90059-9"},{"key":"B42","unstructured":"42.\u2002 TRS.  2018.  About TRS.  TRS.  http:\/\/www.trsprosthetics.com\/about-trs"},{"key":"B43","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1982.4308818"},{"key":"B44","volume-title":"Multi-purpose mechanical hand","author":"Rovetta A","year":"1982"},{"key":"B45","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"B46","unstructured":"46.\u2002 SCHUNK.  1983.  Milestones of innovation.  SCHUNK.  https:\/\/schunk.com\/fi_en\/company\/about-schunk\/innovation-milestones"},{"key":"B47","first-page":"245","volume-title":"1983 International Conference on Advanced Robotics","author":"Hanafusa H","year":"1983"},{"key":"B48","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087797"},{"key":"B49","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1988.12087"},{"key":"B50","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(89)90074-4"},{"key":"B51","first-page":"89","volume-title":"Proceedings of the NASA Conference on Space Telerobotics","volume":"3","author":"Vanbrussel H","year":"1989"},{"key":"B52","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1990.262505"},{"key":"B53","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131850"},{"key":"B54","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.220190"},{"key":"B55","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1992.587320"},{"key":"B56","first-page":"98","volume-title":"Rehabilitation Technology: Strategies for the European Union","author":"Kyberd P","year":"1993"},{"key":"B57","doi-asserted-by":"publisher","DOI":"10.1109\/AMC.1996.509388"},{"key":"B58","doi-asserted-by":"publisher","DOI":"10.1109\/100.511778"},{"key":"B59","doi-asserted-by":"publisher","DOI":"10.1109\/100.637804"},{"key":"B60","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680625"},{"key":"B61","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680623"},{"key":"B62","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826970"},{"key":"B63","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.1999.p0269"},{"key":"B64","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.895225"},{"key":"B65","doi-asserted-by":"publisher","DOI":"10.1016\/S1350-4533(01)00017-0"},{"key":"B66","doi-asserted-by":"publisher","DOI":"10.1109\/3468.833099"},{"key":"B67","volume-title":"Investigation of the Harada robot hand for space","author":"Keymeulen D","year":"2001"},{"key":"B68","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933021"},{"key":"B69","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932988"},{"key":"B70","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933001"},{"key":"B71","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(01)00035-0"},{"key":"B72","first-page":"1","volume":"4","author":"Lalibert\u00e9 T","year":"2002","journal-title":"Mach. Intell. Robot. Control"},{"key":"B73","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014232"},{"key":"B74","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249270"},{"key":"B75","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242077"},{"key":"B76","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249273"},{"key":"B77","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016862.38337.f1"},{"key":"B78","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016863.48502.98"},{"key":"B79","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-27833-7_11"},{"key":"B80","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-27833-7_12"},{"key":"B81","unstructured":"81.\u2002 Matsuda  H.  2004.  Multi-finger hand device.  EP Patent Appl. EP20020758875"},{"key":"B82","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2004-57108"},{"key":"B83","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389363"},{"key":"B84","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2004.1442671"},{"key":"B85","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704001316"},{"key":"B86","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570461"},{"key":"B87","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501080"},{"key":"B88","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570515"},{"key":"B89","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570811"},{"key":"B90","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281763"},{"key":"B91","first-page":"174","volume-title":"Proceedings of the 12th IASTED International Conference on Robotics and Applications","author":"Maeno T","year":"2006"},{"key":"B92","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2006.340336"},{"key":"B93","unstructured":"93.\u2002 Touch  Bionics.  2018.  History.  Touch Bionics.  http:\/\/www.touchbionics.com\/about\/history"},{"key":"B94","unstructured":"94.\u2002 Elumotion.  2018.  Elumotion website.  http:\/\/elumotion.com"},{"key":"B95","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399547"},{"key":"B96","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.901936"},{"key":"B97","doi-asserted-by":"publisher","DOI":"10.5772\/4796"},{"key":"B98","volume-title":"Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual","author":"Robotiq.","year":"2008"},{"key":"B99","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651175"},{"key":"B100","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2008.4755987"},{"key":"B101","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543295"},{"key":"B102","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650987"},{"key":"B103","first-page":"3692","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Liu H","year":"2008"},{"key":"B104","volume-title":"RAPHaEL: Robotic Air-Powered Hand with Elastic Ligaments","author":"Hong D","year":"2009"},{"key":"B105","doi-asserted-by":"crossref","first-page":"2271","DOI":"10.1109\/IROS.2009.5354439","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kurita Y","year":"2009"},{"key":"B106","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2033113"},{"key":"B107","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5627770"},{"key":"B108","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1003250107"},{"key":"B109","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909360852"},{"key":"B110","volume-title":"IH1 Azzurra series","author":"Prensilia.","year":"2010"},{"key":"B111","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2010.5686825"},{"key":"B112","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2010.5686342"},{"key":"B113","unstructured":"113.\u2002 PAL Robot.  2018.  Products.  PAL Robotics.  https:\/\/www.pal-robotics.com\/en\/products"},{"key":"B114","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094415"},{"key":"B115","unstructured":"115.\u2002 Ottobock.  2011.  Michelangelo prosthetic hand.  Ottobock.  http:\/\/www.ottobockus.com\/prosthetics\/upper-limb-prosthetics\/solution-overview\/michelangelo-prosthetic-hand\/"},{"key":"B116","first-page":"251","volume-title":"MEC \u201911: Raising the Standard: University of New Brunswick's International Conference on Advanced Limb Prosthetics","author":"Losier Y","year":"2011"},{"key":"B117","first-page":"279","volume-title":"MEC \u201911: Raising the Standard: University of New Brunswick's International Conference on Advanced Limb Prosthetics","author":"Medynski C","year":"2011"},{"key":"B118","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979923"},{"key":"B119","first-page":"255","volume-title":"MEC \u201911: Raising the Standard: University of New Brunswick's International Conference on Advanced Limb Prosthetics","author":"Altobelli DE","year":"2011"},{"key":"B120","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/20\/3\/035010"},{"key":"B121","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2011.06.002"},{"key":"B122","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385939"},{"key":"B123","unstructured":"123.\u2002 ITK.  2011.  The \u201cHandroid\u201d.  ITK.  http:\/\/www.itk-pro.com\/en\/pro\/kindengisyu.htm"},{"key":"B124","unstructured":"124.\u2002 Wonik Robot.  2018.  History.  Wonik Robotics.  http:\/\/www.simlab.co.kr\/History.htm"},{"key":"B125","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025493"},{"key":"B126","volume-title":"The Sandia Hand","author":"Sandia Natl. Lab.","year":"2012"},{"key":"B127","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385881"},{"key":"B128","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630851"},{"key":"B129","volume-title":"Micro\/Nano Materials, Devices, and Applications","author":"Ueno S","year":"2013"},{"key":"B130","volume-title":"Robotiq product list","author":"Robotiq.","year":"2015"},{"key":"B131","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2225471"},{"key":"B132","unstructured":"132.\u2002 Vincent Syst.  2018.  VINCENTevolution 3.  Vincent Systems.  https:\/\/vincentsystems.de\/en\/prosthetics\/vincent-evolution-3"},{"key":"B133","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2166801"},{"key":"B134","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942773"},{"key":"B135","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913514466"},{"key":"B136","first-page":"223","volume-title":"MEC \u201914: Redefining the Norm: University of New Brunswick's Myoelectric Controls\/Powered Prosthetics Symposium","author":"Sensinger J","year":"2014"},{"key":"B137","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907847"},{"key":"B138","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913519148"},{"key":"B139","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2015.7319176"},{"key":"B140","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363595"},{"key":"B141","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2329006"},{"key":"B142","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21560"},{"key":"B143","volume-title":"Bioinspiration, Biomimetics, and Bioreplication 2015","author":"Simone F","year":"2015"},{"key":"B144","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000648"},{"key":"B145","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353596"},{"key":"B146","first-page":"85","volume-title":"Mechatronics: Principles, Technologies and Applications","author":"van der Riet D","year":"2015"},{"key":"B147","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140070"},{"key":"B148","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0023"},{"key":"B149","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2017.2726348"},{"key":"B150","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139505"},{"key":"B151","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353779"},{"key":"B152","doi-asserted-by":"crossref","first-page":"3485","DOI":"10.1109\/ICRA.2016.7487528","volume-title":"2016 IEEE International Conference on Robotics and Automation","author":"Xu Z","year":"2016"},{"key":"B153","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759157"},{"key":"B154","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487532"},{"key":"B155","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2516506"},{"key":"B156","first-page":"469","volume-title":"Converging Clinical and Engineering Research on Neurorehabilitation II: Biosystems and Biorobotics","author":"Godfrey SB","year":"2016"},{"key":"B157","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0019"},{"key":"B158","volume-title":"ADA V1.1","author":"Open Bionics","year":"2016"},{"key":"B159","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aai7529"},{"key":"B160","doi-asserted-by":"publisher","DOI":"10.1016\/j.compositesb.2016.09.004"},{"key":"B161","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2016.7591864"},{"key":"B162","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0022"},{"key":"B163","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201504264"},{"key":"B164","volume-title":"Fetch and Freight: standard platforms for service robot applications","author":"Wise M","year":"2016"},{"key":"B165","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2714141"},{"key":"B166","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2716445"},{"key":"B167","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.019"},{"key":"B168","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2016.2578980"},{"key":"B169","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-48375-7_26"},{"key":"B170","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0037"},{"key":"B171","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2634602"},{"key":"B172","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2017.7942701"},{"key":"B173","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2636899"},{"key":"B174","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-31293-4_37"},{"key":"B175","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2017.7942665"},{"key":"B176","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2017.7915456"},{"key":"B177","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989391"},{"key":"B178","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2017.00004"},{"key":"B179","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2662086"},{"issue":"4","key":"B180","volume":"14","author":"Hao Y","year":"2017","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"B181","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aa52f8"},{"key":"B182","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989394"},{"key":"B183","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202287"},{"key":"B184","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202175"},{"key":"B185","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2645120"},{"key":"B186","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2647800"},{"key":"B187","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989077"},{"key":"B188","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2017.2751662"},{"key":"B189","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989254"},{"key":"B190","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989791"},{"key":"B191","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2655559"},{"key":"B192","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202288"},{"key":"B193","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202289"},{"key":"B194","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206333"},{"key":"B195","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202290"},{"key":"B196","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202291"},{"key":"B197","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.08.001"},{"key":"B198","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(16)60377-3"},{"key":"B199","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46460-2_4"},{"key":"B200","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-2875-5_10"},{"key":"B201","unstructured":"201.\u2002 Taska Prosthet.  2018.  Taska Prosthetics website.  http:\/\/www.taskaprosthetics.com"},{"key":"B202","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan4268"},{"key":"B203","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2639034"},{"key":"B204","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792688"},{"key":"B205","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2732059"},{"key":"B206","first-page":"412","volume-title":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","author":"Jianshu Z","year":"2018"},{"key":"B207","first-page":"424","volume-title":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","author":"Hongying Z","year":"2018"},{"key":"B208","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2018.8404914"},{"key":"B209","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800079"},{"key":"B210","unstructured":"210.\u2002 Rehab Technol. Lab.  2018.  Sviluppo dispositivi medici.  Rehab Technologies Lab.  http:\/\/rehab.iit.it\/sviluppo-dispositivi"},{"key":"B211","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2018.8404898"},{"key":"B212","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800115"},{"key":"B213","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2018.8404948"},{"key":"B214","volume-title":"2018 IEEE International Conference on Robotics and Automation","author":"Tianjian C","year":"2018"},{"key":"B215","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463191"},{"key":"B216","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2018.8404947"},{"key":"B217","volume-title":"2018 IEEE International Conference on Robotics and Automation","author":"Nagamanikandan G","year":"2018"},{"key":"B218","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543291"},{"key":"B219","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2016.7523680"},{"key":"B220","doi-asserted-by":"publisher","DOI":"10.5772\/5165"},{"key":"B221","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914561535"},{"key":"B222","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353607"},{"key":"B223","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041482"},{"key":"B224","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.12.004"},{"key":"B225","doi-asserted-by":"publisher","DOI":"10.1109\/5254.867913"},{"key":"B226","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206381"},{"key":"B227","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321380"},{"key":"B228","doi-asserted-by":"publisher","DOI":"10.1108\/01439910710774386"},{"key":"B229","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21571"},{"key":"B230","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241676"},{"key":"B231","unstructured":"231.\u2002 Nat. Mach. Motion Init.  2017.  Natural Machine Motion Initiative website.  https:\/\/www.naturalmachinemotioninitiative.com"},{"key":"B232","unstructured":"232.\u2002 Tech. Univ. Berlin.  2016.  Soft Hands.  Technische Universit\u00e4t Berlin Department of Computer Engineering and Microelectronics.  http:\/\/www.robotics.tu-berlin.de\/menue\/research\/soft_hands"},{"key":"B233","unstructured":"233.\u2002 e-NABLE.  2018.  About us.  Enabling the Future.  http:\/\/enablingthefuture.org\/about"},{"key":"B234","volume-title":"OpenBionics: an open-source initiative for the creation of affordable, modular, light-weight, underactuated robot hands and prosthetic devices","author":"Liarokapis MV","year":"2014"},{"key":"B235","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"B236","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00069"},{"key":"B237","first-page":"201","volume-title":"Trends and Developments in Mechanisms, Machines and Robotics","author":"Ulrich N","year":"1988"},{"key":"B238","volume-title":"Artificial dexterous hand","author":"Lee S","year":"1990"},{"key":"B239","volume-title":"Underactuated Robotic Hands","author":"Birglen L","year":"2007"},{"key":"B240","first-page":"591","volume":"60","author":"Easton TA","year":"1972","journal-title":"Am. Sci."},{"key":"B241","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2010.VI.007"},{"key":"B242","volume-title":"Dexterous grasping via eigengrasps: a low-dimensional approach to a high-complexity problem","author":"Ciocarlie M","year":"2007"},{"key":"B243","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041421"},{"key":"B244","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914559753"},{"key":"B245","doi-asserted-by":"publisher","DOI":"10.1109\/MFI.2008.4648033"},{"key":"B246","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989577"},{"key":"B247","volume-title":"Sensors for soft robots and soft actuators","author":"Lessing JA","year":"2017"},{"key":"B248","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2460891"},{"key":"B249","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980371"},{"key":"B250","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943007"},{"key":"B251","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2009.5379581"},{"key":"B252","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9366-8"}],"container-title":["Annual Review of Control, Robotics, and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.annualreviews.org\/doi\/pdf\/10.1146\/annurev-control-060117-105003","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,8]],"date-time":"2021-10-08T10:53:34Z","timestamp":1633690414000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.annualreviews.org\/doi\/10.1146\/annurev-control-060117-105003"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5,3]]},"references-count":252,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,5,3]]}},"alternative-id":["10.1146\/annurev-control-060117-105003"],"URL":"https:\/\/doi.org\/10.1146\/annurev-control-060117-105003","relation":{},"ISSN":["2573-5144","2573-5144"],"issn-type":[{"value":"2573-5144","type":"print"},{"value":"2573-5144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,5,3]]}}}