System-Level Design and Integration of Dexterous Robotic Hands for Complex Manipulation

Abstract

Driven by the demands of intelligent manufacturing, medical rehabilitation, and human–robot collaboration, anthropomorphic dexterous hands have become a key direction for complex manipulation. This paper reviews their evolution from structural biomimetics to intelligent control, emphasizing structural optimization, task generalization, and perception–control coupling. First, it summarizes structural design principles, including structural parameterization, underactuated and compliant mechanisms, functional materials, and multimaterial fabrication. Second, it reviews perception technologies, including angle and strain sensing, tactile and pressure detection, and compact vision–tactile fusion modules. Third, it compares classical model-based control, data-driven learning control, and hybrid model–data control, with attention to sample efficiency, robustness, and transferability. Finally, it discusses deployment-oriented strategies, including modular design, standardized interfaces, integrated packaging, and unified communication frameworks for hardware–software coordination. In summary, this paper establishes a system-level technical framework for dexterous hand development and deployment, organized around 4 tightly coupled dimensions: structural embodiment, multimodal perception, control, and deployment-oriented integration. By clarifying the interactions and constraints across these dimensions, the paper provides a system-level basis for the design, evaluation, and deployment of dexterous hands in complex manipulation and human–robot collaboration.