Research Progress on Mechanism Design of Underactuated Biomimetic Robotic Hands

Abstract

Aiming at the research gaps in existing reviews on underactuated biomimetic robotic hands—namely fragmented mechanism classification and the lack of horizontal quantitative comparison among multi-drive configurations—this paper adopts a systematic literature review methodology. Using transmission type as the classification criterion, underactuated biomimetic robotic hands are categorized into three mainstream systems: linkage transmission, tendon–pulley transmission, and pneumatic soft actuation. Their structural principles, differential core components, prototype performance, and inherent limitations are analyzed, and representative industrial grippers, prosthetic hands, and modular pneumatic soft grippers are compared using quantitative data on grasping force, adaptive capability, and weight. The results reveal that each configuration possesses distinct advantages and inherent deficiencies, and no single transmission structure can simultaneously achieve high payload, lightweight design, and full-shape adaptive grasping. Technical bottlenecks and future development directions are further identified, providing a reference for mechanism optimization and engineering application of biomimetic robotic hands.