A comprehensive study of actuation, perception and control technologies for dexterous hands

Humanoid five-fingered dexterous hands, known for their agility and versatility, have extensive applications in industrial automation and healthcare fields. This paper reviews advancements in actuation, perception, and control technologies for dexterous hands. Electric, hydraulic, and pneumatic actuators are compared regarding power density, precision, and efficiency. The review also covers internal and external perception technologies, including position sensing and force feedback, which are critical for ensuring accurate and stable manipulation. Control methods such as position, force, and hybrid control are analyzed for their effectiveness in handling multi-degree-of-freedom tasks. Despite significant progress, challenges remain in improving precision, energy efficiency, and real-time response. This review highlights these challenges and suggests future directions, including developing adaptive control algorithms and advanced materials. The findings provide a reference for researchers and engineers, contributing to the development of more advanced dexterous hands.