부산대학교 도서관

The robotic gripper plays an important role in the robot functioning. It’s the end effector which does the end job for the robot, like pick-place, manipulating and grasping. The dexterity and manipulation depend upon the number of fingers, joints, and degree of freedom (DOF). Multi-finger robotic gripper mimics the human hand design and function. They are used in industries and as well as prosthetics to give rehabilitation to the person with disability. The components of the multi fingered robotic hand consists of palm, actuator, link, joint, tendon, controller, and sensor. It works like the human hand. Several robotic hands have been developed with three, four and five fingers. They have been tested on various objects to determine their efficiency and accordingly modifications have been done. There are various actuation methods and number of actuators that determine the DOF in the robotic gripper. This review article primarily focuses on the robotic hand/gripper along with their design and applications.