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Multifingered robot hands have a potential capability for achieving dexterous manipulation of objects by using rolling and sliding motions. This chapter addresses design, actuation, sensing and control of multifingered robot hands. From the design viewpoint, they have a strong constraint in actuator implementation due to the space limitation in each joint. After briefly introducing the overview of anthropomorphic end-effector and its dexterity in Sect. 15.1, various approaches for actuation are provided with their advantages and disadvantages in Sect. 15.2. The key classification is (1) remote actuation or build-in actuation and (2) the relationship between the number of joints and the number of actuator. In Sect. 15.3, actuator and sensors used for multifingered hands are described. In Sect. 15.4, modeling and control are introduced by considering both dynamic effects and friction. Applications and trends are given in Sect. 15.5. Finally, this chapter is closed with conclusions and further reading.
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