FoI	Group	Principal Solution	Reference	Robot	Author
Phalanx Design	Finger_Index	Exoskeleton	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Finger Structure	Finger_Index	rigid-sequential	Design of the NASA Robonaut Hand	Robonaut Hand	Lovchik, C. V.
Finger Structure	Finger_Index	rigid-sequential	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Structure	Finger_Index	rigid-sequential	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Finger Structure	Finger_Index	flexible	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Finger Structure	Finger_Index	flexible	Development of the UB Hand IV: Overview of Design Solutions and Enabling Technologies	UB Hand IV	Melchiorri, Claudio
Finger Structure	Finger_Index	flexible	The UB Hand II control system: design features and experimental results	UB Hand II	Eusebi, A.
Phalanx Length	Finger_Index	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Finger_Index	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Finger_Index	human-like relations	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Reseting	Finger_Index	torsional spring	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
IP Joint Structual Design (1 DOF)	Finger_Index	1 axis	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Structual Design (1 DOF)	Finger_Index	1 axis	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Structual Design (1 DOF)	Finger_Index	1 axis	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
DIP Mechanical Joint Design	Finger_Index	Passive Hyperextension	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Passive Joint Extension	Finger_Index	Interphalangeal Spring System	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Strucutal Design (1 DOF)	Finger_Index	1 axis	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
MCP Joint Strucutal Design (1 DOF)	Finger_Index	1 axis	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Adduction at top	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis not orthogonal and non-intersecting - Adduction/Abduction below	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	linkage coupling of two joints	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	linkage coupling of two joints	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	tendon coupling of two joints	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	tendon coupling of two joints	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 1 DoA MCP-PIP Joints	Finger_Index	linkage underactuation of two joints	An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals	[No Robot Listed]	Yang, D.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon coupling of three joints	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	linkage coupling of three joints	ptimal design of driving mechanism in a 1-DOF anthropomorphic finger	[No Robot Listed]	Rodriguez, N. E. N.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	linkage underactuation of three joints	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks	[No Robot Listed]	Azlan, N. Z.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	linkage underactuation of three joints	Underactuation in Space Robotic Hands	[No Robot Listed]	Laliberte, T.
Eliminating 3 DoA MCP-PIP-DIP Joints	Finger_Index	linkage underactuation of three joints	Design of Spatial Adaptive Fingered Gripper Using Spherical Five-Bar Mechanis	[No Robot Listed]	Tae-Uk, Kim
Finger Structure	Finger_Middle	rigid-sequential	Design of the NASA Robonaut Hand	Robonaut Hand	Lovchik, C. V.
Finger Structure	Finger_Middle	rigid-sequential	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Structure	Finger_Middle	rigid-sequential	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Finger Structure	Finger_Middle	flexible	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Finger Structure	Finger_Middle	flexible	Development of the UB Hand IV: Overview of Design Solutions and Enabling Technologies	UB Hand IV	Melchiorri, Claudio
Finger Structure	Finger_Middle	flexible	The UB Hand II control system: design features and experimental results	UB Hand II	Eusebi, A.
Phalanx Length	Finger_Middle	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Finger_Middle	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Finger_Middle	human-like relations	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Phalanx Design	Finger_Middle	Exoskeleton	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Reseting	Finger_Middle	torsional spring	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
IP Joint Structual Design (1 DOF)	Finger_Middle	1 axis	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Structual Design (1 DOF)	Finger_Middle	1 axis	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Structual Design (1 DOF)	Finger_Middle	1 axis	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Passive Joint Extension	Finger_Middle	Interphalangeal Spring System	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Strucutal Design (1 DOF)	Finger_Middle	1 axis	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
MCP Joint Strucutal Design (1 DOF)	Finger_Middle	1 axis	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Adduction at top	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis not orthogonal and non-intersecting - Adduction/Abduction below	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	linkage coupling of two joints	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	linkage coupling of two joints	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	tendon coupling of two joints	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	tendon coupling of two joints	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 1 DoA MCP-PIP Joints	Finger_Middle	linkage underactuation of two joints	An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals	[No Robot Listed]	Yang, D.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon coupling of three joints	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage coupling of three joints	ptimal design of driving mechanism in a 1-DOF anthropomorphic finger	[No Robot Listed]	Rodriguez, N. E. N.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage underactuation of three joints	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks	[No Robot Listed]	Azlan, N. Z.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage underactuation of three joints	Underactuation in Space Robotic Hands	[No Robot Listed]	Laliberte, T.
Eliminating 3 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage underactuation of three joints	Design of Spatial Adaptive Fingered Gripper Using Spherical Five-Bar Mechanis	[No Robot Listed]	Tae-Uk, Kim
Finger Structure	Finger_Ring-Little	rigid-sequential	Design of the NASA Robonaut Hand	Robonaut Hand	Lovchik, C. V.
Finger Structure	Finger_Ring-Little	rigid-sequential	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Structure	Finger_Ring-Little	rigid-sequential	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Finger Structure	Finger_Ring-Little	flexible	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Finger Structure	Finger_Ring-Little	flexible	Development of the UB Hand IV: Overview of Design Solutions and Enabling Technologies	UB Hand IV	Melchiorri, Claudio
Finger Structure	Finger_Ring-Little	flexible	The UB Hand II control system: design features and experimental results	UB Hand II	Eusebi, A.
Phalanx Length	Finger_Ring-Little	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Finger_Ring-Little	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Finger_Ring-Little	human-like relations	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Phalanx Design	Finger_Ring-Little	Exoskeleton	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Reseting	Finger_Ring-Little	torsional spring	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
IP Joint Structual Design (1 DOF)	Finger_Ring-Little	1 axis	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Structual Design (1 DOF)	Finger_Ring-Little	1 axis	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Structual Design (1 DOF)	Finger_Ring-Little	1 axis	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Passive Joint Extension	Finger_Ring-Little	Interphalangeal Spring System	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Strucutal Design (1 DOF)	Finger_Ring-Little	1 axis	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
MCP Joint Strucutal Design (1 DOF)	Finger_Ring-Little	1 axis	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Adduction at top	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis not orthogonal and non-intersecting - Adduction/Abduction below	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	linkage coupling of two joints	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	linkage coupling of two joints	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	tendon coupling of two joints	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	tendon coupling of two joints	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 1 DoA MCP-PIP Joints	Finger_Ring-Little	linkage underactuation of two joints	An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals	[No Robot Listed]	Yang, D.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	tendon coupling of three joints	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage coupling of three joints	ptimal design of driving mechanism in a 1-DOF anthropomorphic finger	[No Robot Listed]	Rodriguez, N. E. N.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage underactuation of three joints	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks	[No Robot Listed]	Azlan, N. Z.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage underactuation of three joints	Underactuation in Space Robotic Hands	[No Robot Listed]	Laliberte, T.
Eliminating 3 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage underactuation of three joints	Design of Spatial Adaptive Fingered Gripper Using Spherical Five-Bar Mechanis	[No Robot Listed]	Tae-Uk, Kim
Improving Opposition	Finger_Ring-Little	Inclination of IP Joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Structure	Thumb	rigid-sequential	Design of the NASA Robonaut Hand	Robonaut Hand	Lovchik, C. V.
Finger Structure	Thumb	rigid-sequential	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Structure	Thumb	rigid-sequential	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Finger Structure	Thumb	flexible	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Finger Structure	Thumb	flexible	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Finger Structure	Thumb	flexible	The UB Hand II control system: design features and experimental results	UB Hand II	Eusebi, A.
Phalanx Length	Thumb	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Phalanx Design	Thumb	Exoskeleton	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Reseting	Thumb	torsional spring	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
IP Joint Structual Design (1 DOF)	Thumb	1 axis	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Structual Design (1 DOF)	Thumb	1 axis	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Structual Design (1 DOF)	Thumb	1 axis	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Passive Joint Extension	Thumb	Interphalangeal Spring System	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - other configuration	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Joint Structual Design (2 DOF)	Thumb	2 axis not orthogonal and non-intersecting - Adduction/Abduction below	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Eliminating 1 DoA MCP-PIP Joints	Thumb	tendon coupling of two joints	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
Eliminating 1 DoA MCP-PIP Joints	Thumb	linkage underactuation of two joints	An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals	[No Robot Listed]	Yang, D.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage coupling of three joints	ptimal design of driving mechanism in a 1-DOF anthropomorphic finger	[No Robot Listed]	Rodriguez, N. E. N.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks	[No Robot Listed]	Azlan, N. Z.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	Underactuation in Space Robotic Hands	[No Robot Listed]	Laliberte, T.
Eliminating 3 DoA TMC-MCP-IP Joints	Thumb	Special coupling of three joints	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
Finger Size	Thumb	human-like relations	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Finger Size	Thumb	human-like relations	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Adduction at top	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis not orthogonal and non-intersecting - Adduction/Abduction below	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
TMC Joint Structual Design (3 DOF)	Thumb	3 axis intersecting	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Improving Opposition	Thumb	Inclination of IP Joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Mechanical Palm Design	Kinetic-Base-Chain	flat rigid surface	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Mechanical Palm Design	Kinetic-Base-Chain	bent rigid surface	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
Mechanical HMC(CMC) Joint Design	Kinetic-Base-Chain	closed hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Mechanical HMC(CMC) Joint Design	Kinetic-Base-Chain	open hinge joint	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Mechanical HMC(CMC) Joint Design	Kinetic-Base-Chain	closed hinge joint	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Eliminating 1 DoA HMC Joint	Kinetic-Base-Chain	linkage underactuation HMC-MCP Joints	Design of the NASA Robonaut Hand	Robonaut Hand	Lovchik, C. V.
Eliminating 1 DoA HMC Joint	Kinetic-Base-Chain	linkage underactuation HMC-MCP Joints	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Eliminating 1 DoA HMC Joint	Kinetic-Base-Chain	linkage coupling HMC-MCP Joints	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
TMC Joint Position	Kinetic-Base-Chain	Grebenstein et al.	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
TMC Joint Position	Kinetic-Base-Chain	opposing to fingers	The multifingered NAIST hand system for robot in-hand manipulation	NAIST Hand	Ueda, J.
Eliminating 1 DOA Flexion-Extension LF-RF	Transmission	Coupling flexion/extension LF-RF	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 3 DOA Adduction/Abduction LF-RF-MF-IF	Transmission	Coupling adduction/abduction LF-RF-MF-IF	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Proportion of covered area	Housing	gloves (Finger and Palm Cover)	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Proportion of covered area	Housing	full Fingercover	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Proportion of covered area	Housing	partial cover	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Proportion of covered area	Housing	partial cover	DLR-Hand II: next generation of a dextrous robot hand	DLR Hand II	Butterfass, J.
Proportion of covered area	Housing	Fingertips	DLR-Hand II: next generation of a dextrous robot hand	DLR Hand II	Butterfass, J.
Proportion of covered area	Housing	Fingertips	Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand	Shadow Hand	Gomez Eguiluz, A.
Contact material (Skin)	Housing	PU	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Contact material (Skin)	Housing	PU	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Contact material (Skin)	Housing	Silicon	Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins	Twendy-One Hand	Iwata, H.
Contact material (Skin)	Housing	Silicon	Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands	[No Robot Listed]	Tomo, T.P.
Contact material (Skin)	Housing	none	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
Adaptation	Housing	Soft Tissue/ Pads (one material)	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Adaptation	Housing	Soft Tissue/ Pads (one material)	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Adaptation	Housing	Filled Pads (different material than skin)	Developing an artificial fingertip with human friction properties	[No Robot Listed]	Shao, F.
Adaptation	Housing	none	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Surface Texture	Housing	Fingerprints/ Structure	Skin materials for robotic fingers	[No Robot Listed]	Cutkosky, M.
Surface Texture	Housing	hexagonal pillars	Distal Hyperextension Is Handy: High Range of Motion in Cluttered Environments	[No Robot Listed]	Ruotolo, W.
Surface Texture	Housing	none	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Eliminating 1 DoA MCP-PIP Joints	Thumb	tendon coupling of two joints	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 1 IP Joint DoF	Finger_Index	Eliminating PIP/DIP Joint	CORA hand: a 3D printed robotic hand designed for robustness and compliance	CORA Hand	Leonardis, D.
Eliminating 1 IP Joint DoF	Finger_Middle	Eliminating PIP/DIP Joint	CORA hand: a 3D printed robotic hand designed for robustness and compliance	CORA Hand	Leonardis, D.
Eliminating 1 IP Joint DoF	Finger_Ring-Little	Eliminating PIP/DIP Joint	CORA hand: a 3D printed robotic hand designed for robustness and compliance	CORA Hand	Leonardis, D.
Eliminating 1 MCP Joint DoF	Finger_Middle	Eliminating MCP Adduction/Abduction DOF	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Eliminating 1 MCP Joint DoF	Finger_Ring-Little	Eliminating MCP Adduction/Abduction DOF	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
Eliminating 1 HMC Joint DoF	Kinetic-Base-Chain	Eliminating HMC Ring Finger	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Eliminating 1 HMC Joint DoF	Kinetic-Base-Chain	Implementing joined HMC for Little-Ring Finger	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Eliminating 2 HMC Joint DoF	Kinetic-Base-Chain	Eliminating HMC Little and Ring finger	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Type of Underactuation Interfinger	Transmission	The movable pulley	Underactuated robotic hands	Underactuated robotic Hand	L, Birglen
Type of Underactuation Interfinger	Transmission	seesaw bar	Underactuated robotic hands	Underactuated robotic Hand	L, Birglen
Type of Underactuation Interfinger	Transmission	geared differential	Underactuated robotic hands	Underactuated robotic Hand	L, Birglen
Type of Underactuation Interfinger	Transmission	moveable pulley and seesaw bar	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
Type of Underactuation Interfinger	Transmission	seesaw bar	Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification	MGM Hand	Liu, H.
Type of Underactuation Interfinger	Transmission	seesaw bar	A modular, open-source 3D printed underactuated hand	Yale OpenHand	Ma, Raymond R.
Type of Underactuation Interfinger	Transmission	seesaw bar	Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses	Kontoudis Hand	Kontoudis, GP.
Type of Underactuation Interfinger	Transmission	moveable pulley and seesaw bar	Novel differential mechanism enabling two DOF from a single actuator: Application to a prosthetic hand	Belter Hand	Belter, JT.
Type of Underactuation Interfinger	Transmission	The movable pulley	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Type of Underactuation Interfinger	Transmission	The movable pulley	Adaptive synergies for the design and control of the Pisa/IIT SoftHand	PISA/IIT Softhand	Catalano, M.G
Type of Underactuation Interfinger	Transmission	The movable pulley	Design of a Multifunctional Anthropomorphic Prosthetic Hand With Extrinsic Actuation	Vanderbilt Hand	Dalley, SA.
Type of Underactuation Interfinger	Transmission	The movable pulley	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
Type of Underactuation Interfinger	Transmission	The movable pulley	An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator	Goesslin Hand	Gosselin, C.
Eliminating 2 DOA Adduction/Abduction LF-RF-IF	Transmission	Tendon Underactuation adduction/abduction LF-RF-IF	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 4 DOA Abduction-Adduction LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation abduction/adduction LF-RF-MF-IF-Tb	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
Eliminating 1 DoA HMC Joint	Kinetic-Base-Chain	Linkage Coupling Grebenstein.	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
TMC Joint Structual Design (1 DoF)	Thumb	1 axis	UT hand I: A lock-based underactuated hand prosthesis	UT Hand I	Peerdeman, B.
TMC Joint Structual Design (1 DoF)	Thumb	1 axis	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	RTR Hand II	Carrozza, M. C.
Type of Underactuation Interfinger	Transmission	compliant differential coupling	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	RTR Hand II	Carrozza, M. C.
Type of Underactuation Interfinger	Transmission	compliant differential coupling	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
Eliminating 2 MCP Joint DoF	Thumb	Eliminating MCP Joint	Simplified robotic thumb inspired by surgical intervention	TU Hand	Pulleyking, S.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I	Gifu Hand I	Kawasaki, H.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II	MCR Hand II	Yang, H.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Eliminating 2 TMC Joint DoF	Thumb	Eliminating TMC Flexion-Extension Pronation-Supination DoF	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	RTR Hand II	Carrozza, M. C.
Eliminating 2 TMC Joint DoF	Thumb	Eliminating TMC Flexion-Extension Pronation-Supination DoF	UT hand I: A lock-based underactuated hand prosthesis	UT Hand I	Peerdeman, B.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Simplified robotic thumb inspired by surgical intervention	TU Hand	Pulleyking, S.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I	Gifu Hand I	Kawasaki, H.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II	MCR Hand II	Yang, H.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	The modular multisensory DLR-HIT-Hand	DLR/HIT Hand I	Liu, H.
Eliminating 1 MCP Joint DoF	Thumb	Eliminating MCP Adduction/Abduction DOF	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Eliminating 1 TMC Joint DoF	Thumb	Eliminating TMC Pronation/Supination DOF	Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand	Shadow Hand	Gomez Eguiluz, A.
Phalanx Length	Thumb	human-like relations	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Length	Thumb	human-like relations	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Length	Thumb	human-like relations	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Phalanx Length	Thumb	human-like relations	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
TMC Joint Position	Kinetic-Base-Chain	Isobe	TOWARD NEXT STAGE OF KINETIC HUMANOID HAND	Kinetic Humanoid Hand	Kawasaki, H.
TMC Joint Position	Kinetic-Base-Chain	Euler-Angle	An anthropomorphic design guideline for the thumb of the dexterous hand	revised DLR/HIT Hand II	Wang, H.
TMC Joint Position	Kinetic-Base-Chain	Angled towards palm and fingers	UT hand I: A lock-based underactuated hand prosthesis	UT Hand I	Peerdeman, B.
TMC Joint Position	Kinetic-Base-Chain	Angled towards palm and fingers	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
Phalanx Design	Thumb	Exoskeleton	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
Phalanx Design	Thumb	Exoskeleton	UT hand I: A lock-based underactuated hand prosthesis	UT Hand I	Peerdeman, B.
Phalanx Design	Thumb	Exoskeleton	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	RTR Hand II	Carrozza, M. C.
Phalanx Design	Thumb	Exoskeleton	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
Phalanx Design	Thumb	Exoskeleton	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
Phalanx Design	Thumb	Endoskeleton	-	Awiwi Hand	Grebenstein, M.
Phalanx Design	Thumb	Exoskeleton	The UB Hand II control system: design features and experimental results	UB Hand II	Eusebi, A.
Phalanx Design	Thumb	Exoskeleton	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Phalanx Design	Thumb	Exoskeleton	An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II	MCR Hand II	Yang, H.
Phalanx Design	Thumb	Exoskeleton	Simplified robotic thumb inspired by surgical intervention	TU Hand	Pulleyking, S.
Phalanx Design	Thumb	Exoskeleton	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
Phalanx Design	Thumb	Exoskeleton	The modular multisensory DLR-HIT-Hand	DLR/HIT Hand I	Liu, H.
Phalanx Design	Thumb	Exoskeleton	Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I	Gifu Hand I	Kawasaki, H.
Phalanx Design	Thumb	Endoskeleton	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Design	Thumb	Endoskeleton	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
Phalanx Design	Thumb	Endoskeleton	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
Phalanx Design	Thumb	Endoskeleton	Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration	HBA Hand	Xu, Z.
Eliminating 1 DoA MCP-PIP Joints	Thumb	linkage coupling of two joints	An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II	MCR Hand II	Yang, H.
Eliminating 1 DoA MCP-PIP Joints	Thumb	linkage coupling of two joints	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
Eliminating 1 DoA MCP-PIP Joints	Thumb	tendon coupling of two joints	UT hand I: A lock-based underactuated hand prosthesis	UT Hand I	Peerdeman, B.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
IP Joint Mechanical Design (1 DoF)	Thumb	compliant joint	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
IP Joint Mechanical Design (1 DoF)	Thumb	compliant joint	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
IP Joint Mechanical Design (1 DoF)	Thumb	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Mechanical Joint Design (1 DoF)	Thumb	compliant joint	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Mechanical Joint Design (1 DoF)	Thumb	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand	Shadow Hand	Gomez Eguiluz, A.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Simplified robotic thumb inspired by surgical intervention	TU Hand	Pulleyking, S.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
TMC Joint Mechanical Design (2 DoF)	Thumb	open hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
TMC Joint Mechanical Design (2 DoF)	Thumb	compliant joint	Development of UB Hand 3: Early Results	UB Hand III	Lotti, F.
TMC Joint Mechanical Design (2 DoF)	Thumb	compliant joint	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
TMC Joint Mechanical Design (2 DoF)	Thumb	rolling-contact joint	Simplified robotic thumb inspired by surgical intervention	TU Hand	Pulleyking, S.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	linkage coupling of two joints	The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand	DLR/HIT Prosthetic Hand	Liu, H.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	linkage coupling of two joints	The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand	DLR/HIT Prosthetic Hand	Liu, H.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	linkage coupling of two joints	The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand	DLR/HIT Prosthetic Hand	Liu, H.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects	MANUS-HAND	Pons, J. L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	linkage coupling of three joints	Development of a lightweight and adaptable multiple-axis hand prosthesis	Southhampton REMIDI Hand	Light, C. M.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage coupling of three joints	Development of a lightweight and adaptable multiple-axis hand prosthesis	Southhampton REMIDI Hand	Light, C. M.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage coupling of three joints	Development of a lightweight and adaptable multiple-axis hand prosthesis	Southhampton REMIDI Hand	Light, C. M.
Eliminating 1 DoA MCP-PIP Joints	Finger_Index	linkage coupling of two joints	The mechanical design of a biologically inspired prosthetic hand, the touch hand 3	Touch Hand 3	Fourie, R.
Eliminating 1 DoA MCP-PIP Joints	Finger_Middle	linkage coupling of two joints	The mechanical design of a biologically inspired prosthetic hand, the touch hand 3	Touch Hand 3	Fourie, R.
Eliminating 1 DoA MCP-PIP Joints	Finger_Ring-Little	linkage coupling of two joints	The mechanical design of a biologically inspired prosthetic hand, the touch hand 3	Touch Hand 3	Fourie, R.
Eliminating 1 DoA MCP-PIP Joints	Finger_Index	linkage coupling of two joints	Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator	Wattanasiri Hand	Wattanasiri, P.
Eliminating 1 DoA MCP-PIP Joints	Finger_Middle	linkage coupling of two joints	Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator	Wattanasiri Hand	Wattanasiri, P.
Eliminating 1 DoA MCP-PIP Joints	Finger_Ring-Little	linkage coupling of two joints	Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator	Wattanasiri Hand	Wattanasiri, P.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	linkage coupling of two joints	Development of Bio-mimetic Robot Hand Using Parallel Mechanisms	Lee Bio-mimetic Robot Hand	Lee, S.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	linkage coupling of two joints	Development of Bio-mimetic Robot Hand Using Parallel Mechanisms	Lee Bio-mimetic Robot Hand	Lee, S.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	linkage coupling of two joints	Development of Bio-mimetic Robot Hand Using Parallel Mechanisms	Lee Bio-mimetic Robot Hand	Lee, S.
Eliminating 1 DoA MCP-PIP Joints	Finger_Ring-Little	linkage coupling of two joints	Development of Bio-mimetic Robot Hand Using Parallel Mechanisms	Lee Bio-mimetic Robot Hand	Lee, S.
Eliminating 1 DoA MCP-PIP Joints	Finger_Index	linkage coupling of two joints	Development of Bio-mimetic Robot Hand Using Parallel Mechanisms	Lee Bio-mimetic Robot Hand	Lee, S.
Eliminating 1 DoA MCP-PIP Joints	Finger_Middle	linkage coupling of two joints	Development of Bio-mimetic Robot Hand Using Parallel Mechanisms	Lee Bio-mimetic Robot Hand	Lee, S.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
MCP Mechanical Joint Design (1 DoF)	Finger_Index	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
MCP Mechanical Joint Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Innovative Human-Like Dual Robotic Hand Mechatronic Design and its Chess-Playing Experiment	NTU Hand	Huang, MB.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Innovative Human-Like Dual Robotic Hand Mechatronic Design and its Chess-Playing Experiment	NTU Hand	Huang, MB.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Innovative Human-Like Dual Robotic Hand Mechatronic Design and its Chess-Playing Experiment	NTU Hand	Huang, MB.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Innovative Human-Like Dual Robotic Hand Mechatronic Design and its Chess-Playing Experiment	NTU Hand	Huang, MB.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	Innovative Human-Like Dual Robotic Hand Mechatronic Design and its Chess-Playing Experiment	NTU Hand	Huang, MB.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	closed hinge joint	Innovative Human-Like Dual Robotic Hand Mechatronic Design and its Chess-Playing Experiment	NTU Hand	Huang, MB.
MCP Mechanical Joint Design (1 DoF)	Thumb	open hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Design and control of a three-fingered tendon-driven robotic hand with active and passive tendons	Auton Robot Hand	Ozawa, R.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Design and control of a three-fingered tendon-driven robotic hand with active and passive tendons	Auton Robot Hand	Ozawa, R.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Design and control of a three-fingered tendon-driven robotic hand with active and passive tendons	Auton Robot Hand	Ozawa, R.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	pin joint and open hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	pin joint and open hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	pin joint and open hinge joint	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
MCP Mechanical Joint Design (1 DoF)	Finger_Index	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
MCP Mechanical Joint Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Design of a cybernetic hand for perception and action	CyberHand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Design of a cybernetic hand for perception and action	CyberHand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Design of a cybernetic hand for perception and action	CyberHand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Design of a cybernetic hand for perception and action	CyberHand	Carrozza, M. C.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	Design of a cybernetic hand for perception and action	CyberHand	Carrozza, M. C.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
MCP Mechanical Joint Design (1 DoF)	Finger_Index	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
MCP Mechanical Joint Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The SmartHand transradial prosthesis	SmartHand	Cipriani, C.
Eliminating 1 HMC Joint DoF	Kinetic-Base-Chain	Implementing joined HMC for Little-Ring Finger	An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II	MCR Hand II	Yang, H.
IP Joint Mechanical Design (1 DoF)	Finger_Index	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
TMC Joint Mechanical Design (2 DoF)	Thumb	rolling-contact joint	Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2	PISA/IIT Softhand 2	Santina, C.
IP Joint Mechanical Design (1 DoF)	Finger_Index	open hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	open hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	open hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Mechanical Design (1 DoF)	Thumb	open hinge joint	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	closed hinge joint	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Development of multi-fingered universal robot hand with torque limiter mechanism	Universal Robot Hand II	Fukui, F.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Development of multi-fingered universal robot hand with torque limiter mechanism	Universal Robot Hand II	Fukui, F.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Development of multi-fingered universal robot hand with torque limiter mechanism	Universal Robot Hand II	Fukui, F.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Development of multi-fingered universal robot hand with torque limiter mechanism	Universal Robot Hand II	Fukui, F.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	Development of multi-fingered universal robot hand with torque limiter mechanism	Universal Robot Hand II	Fukui, F.
IP Joint Mechanical Design (1 DoF)	Finger_Index	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
IP Joint Mechanical Design (1 DoF)	Thumb	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Mechanical Joint Design (1 DoF)	Finger_Index	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Mechanical Joint Design (1 DoF)	Finger_Ring-Little	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
MCP Mechanical Joint Design (1 DoF)	Thumb	compliant joint	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Eliminating 1 DOA Flexion-Extension LF-RF	Transmission	Tendon Underactuation flexion/extension LF-RF	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator	Goesslin Hand	Gosselin, C.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	Novel differential mechanism enabling two DOF from a single actuator: Application to a prosthetic hand	Belter Hand	Belter, JT.
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses	Kontoudis Hand	Kontoudis, GP.
Eliminating 1 DOA Flexion-Extension MF-IF	Transmission	Tendon Underactuation flexion/extension MF-IF	The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping	SPRING Hand	Carrozza, M. C.
Eliminating 1 DOA Flexion-Extension LF-RF	Transmission	Tendon Underactuation flexion/extension LF-RF	Design of a Multifunctional Anthropomorphic Prosthetic Hand With Extrinsic Actuation	Vanderbilt Hand	Dalley, SA.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans	Kamikawa prosthetic hand	Kamikawa, Yasushika
Type of Underactuation Interfinger	Transmission	seesaw bar	Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans	Kamikawa prosthetic hand	Kamikawa, Yasushika
Eliminating 1 DOA Flexion-Extension MF-IF	Transmission	Tendon Underactuation flexion/extension MF-IF	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	RTR Hand II	Carrozza, M. C.
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study	SDM Hand	Dollar, Aaron M.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	An underactuated mechanical hand: A first prototype	Niola Hand	Niola, V.
Type of Underactuation Interfinger	Transmission	The movable pulley	An underactuated mechanical hand: A first prototype	Niola Hand	Niola, V.
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper	Baril Hand	Baril, M.
Type of Underactuation Interfinger	Transmission	seesaw bar	On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper	Baril Hand	Baril, M.
Type of Underactuation Interfinger	Transmission	seesaw bar	Design of the TUAT/Karlsruhe humanoid hand	TUAT/Karlsruhe Hand	Fukaya, N.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	Design of the TUAT/Karlsruhe humanoid hand	TUAT/Karlsruhe Hand	Fukaya, N.
Type of Underactuation Interfinger	Transmission	seesaw bar	The design of anthropomorphic prosthetic hands: A study of the Southampton Hand	Southampton hand	Kyberd, P. J.
Eliminating 2 DOA Flexion-Extension RF-MF-IF	Transmission	Tendon Underactuation flexion/extension RF-MF-IF	The design of anthropomorphic prosthetic hands: A study of the Southampton Hand	Southampton hand	Kyberd, P. J.
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification	MGM Hand	Liu, H.
Type of Underactuation Interfinger	Transmission	moveable pulley and seesaw bar	Underactuated tendon-driven robotic/prosthetic hands: design issues	Mottard Hand	Mottard, A.
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	Underactuated tendon-driven robotic/prosthetic hands: design issues	Mottard Hand	Mottard, A.
Type of Underactuation Interfinger	Transmission	seesaw bar	Force-directed design of a voluntary closing hand prosthesis	Visser Hand	Visser, H.
Eliminating 2 DOA Flexion-Extension RF-MF-IF	Transmission	Tendon Underactuation flexion/extension RF-MF-IF	Force-directed design of a voluntary closing hand prosthesis	Visser Hand	Visser, H.
Type of Underactuation Interfinger	Transmission	seesaw bar	Design Principle of a Dual-Actuated Robotic Hand With Anthropomorphic Self-Adaptive Grasping and Dexterous Manipulation Abilities	mini X-hand	Sun, B-Y
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	Design Principle of a Dual-Actuated Robotic Hand With Anthropomorphic Self-Adaptive Grasping and Dexterous Manipulation Abilities	mini X-hand	Sun, B-Y
Eliminating 3 DOA Flexion-Extension LF-RF-MF-IF	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF	The KIT Prosthetic Hand: Design and Control	KIT Prosthetic Hand	Weiner, P.
Type of Underactuation Interfinger	Transmission	compliant differential coupling	Design of a simplified compliant anthropomorphic robot hand	SCCA Hand	Wiste, T.
Eliminating 1 DOA Flexion-Extension LF-RF	Transmission	Tendon Underactuation flexion/extension LF-RF	Design of a simplified compliant anthropomorphic robot hand	SCCA Hand	Wiste, T.
TMC Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	In Vivo Validation of a Realistic Kinematic Model for the Trapezio-Metacarpal Joint Using an Optoelectronic System	[No Robot Listed]	Cerveri, P.
Improving Opposition	Finger_Index	Inclination of MCP Joint	In Vivo Validation of a Realistic Kinematic Model for the Trapezio-Metacarpal Joint Using an Optoelectronic System	[No Robot Listed]	Cerveri, P.
Improving Opposition	Finger_Middle	Inclination of MCP Joint	In Vivo Validation of a Realistic Kinematic Model for the Trapezio-Metacarpal Joint Using an Optoelectronic System	[No Robot Listed]	Cerveri, P.
Improving Opposition	Finger_Ring-Little	Inclination of MCP Joint	In Vivo Validation of a Realistic Kinematic Model for the Trapezio-Metacarpal Joint Using an Optoelectronic System	[No Robot Listed]	Cerveri, P.
HMC Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	In Vivo Validation of a Realistic Kinematic Model for the Trapezio-Metacarpal Joint Using an Optoelectronic System	[No Robot Listed]	Cerveri, P.
MCP Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	In Vivo Validation of a Realistic Kinematic Model for the Trapezio-Metacarpal Joint Using an Optoelectronic System	[No Robot Listed]	Cerveri, P.
Eliminating 3 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	Design of Spatial Adaptive Fingered Gripper Using Spherical Five-Bar Mechanis	[No Robot Listed]	Tae-Uk, Kim
Proportion of covered area	Housing	full Fingercover	Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins	Twendy-One Hand	Iwata, H.
Adaptation	Housing	Soft Tissue/ Pads (one material)	Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins	Twendy-One Hand	Iwata, H.
Proportion of covered area	Housing	partial cover	CATCH-919 Hand: Design of a 9-actuator 19-DOF Anthropomorphic Robotic Hand	Catch-919 Hand	Zhang, Z.
Proportion of covered area	Housing	partial cover	Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands	[No Robot Listed]	Tomo, T.P.
Contact material (Skin)	Housing	PU	Distal Hyperextension Is Handy: High Range of Motion in Cluttered Environments	[No Robot Listed]	Ruotolo, W.
Contact material (Skin)	Housing	Silicon	Developing an artificial fingertip with human friction properties	[No Robot Listed]	Shao, F.
Contact material (Skin)	Housing	Silicon	Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand	Shadow Hand	Gomez Eguiluz, A.
Adaptation	Housing	Filled Pads (different material than skin)	Soft Robotic Fingertips	[No Robot Listed]	Shimoga, K. B. Godenberg, A. A.
Finger Size	Finger_Index	human-like relations	Dorsal and palmar aspect dimensions of hand anthropometry for designing hand tools and protections	[No Robot Listed]	Vergara, M.
Finger Size	Finger_Middle	human-like relations	Dorsal and palmar aspect dimensions of hand anthropometry for designing hand tools and protections	[No Robot Listed]	Vergara, M.
Finger Size	Finger_Ring-Little	human-like relations	Dorsal and palmar aspect dimensions of hand anthropometry for designing hand tools and protections	[No Robot Listed]	Vergara, M.
Finger Size	Thumb	human-like relations	Dorsal and palmar aspect dimensions of hand anthropometry for designing hand tools and protections	[No Robot Listed]	Vergara, M.
Phalanx Length	Finger_Index	human-like relations	Anthropometric data for describing the kinematics of the human hand	[No Robot Listed]	Buchholz, B.
Phalanx Length	Finger_Middle	human-like relations	Anthropometric data for describing the kinematics of the human hand	[No Robot Listed]	Buchholz, B.
Phalanx Length	Finger_Ring-Little	human-like relations	Anthropometric data for describing the kinematics of the human hand	[No Robot Listed]	Buchholz, B.
Phalanx Length	Thumb	human-like relations	Anthropometric data for describing the kinematics of the human hand	[No Robot Listed]	Buchholz, B.
Phalanx Length	Finger_Index	human-like relations	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Length	Finger_Middle	human-like relations	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Length	Finger_Ring-Little	human-like relations	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Length	Finger_Index	human-like relations	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Phalanx Length	Finger_Middle	human-like relations	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Phalanx Length	Finger_Ring-Little	human-like relations	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
Phalanx Length	Finger_Index	human-like relations	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
Phalanx Length	Finger_Middle	human-like relations	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
Phalanx Length	Finger_Ring-Little	human-like relations	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
Phalanx Length	Finger_Index	human-like relations	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Length	Finger_Middle	human-like relations	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Length	Finger_Ring-Little	human-like relations	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Design	Finger_Index	Artificial Bone	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Design	Finger_Middle	Artificial Bone	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Design	Finger_Ring-Little	Artificial Bone	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Design	Thumb	Artificial Bone	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
Phalanx Design	Finger_Index	Artificial Bone	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Design	Finger_Middle	Artificial Bone	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Design	Finger_Ring-Little	Artificial Bone	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Phalanx Design	Thumb	Artificial Bone	Design of a Highly Biomimetic Anthropomorphic Robotic Hand towards Artificial Limb Regeneration	Xu biomimetic robotic hand	Xu, Z.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon underactuation of three joints	An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator	Goesslin Hand	Gosselin, C.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon underactuation of three joints	An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator	Goesslin Hand	Gosselin, C.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	tendon underactuation of three joints	An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator	Goesslin Hand	Gosselin, C.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	tendon underactuation of three joints	An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator	Goesslin Hand	Gosselin, C.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon underactuation of three joints	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon underactuation of three joints	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	tendon underactuation of three joints	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
Eliminating 2 DoA MCP-PIP-DIP Joints	Thumb	tendon underactuation of three joints	Design and simulation of an underactuated finger mechanism for LARM Hand	LARM Hand	Ceccarelli, M.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Development of a tendon-driven robotic finger for an anthropomorphic robotic hand	[No Robot Listed]	Shirafuji, S.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Development of a tendon-driven robotic finger for an anthropomorphic robotic hand	[No Robot Listed]	Shirafuji, S.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Development of a tendon-driven robotic finger for an anthropomorphic robotic hand	[No Robot Listed]	Shirafuji, S.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Development of a tendon-driven robotic finger for an anthropomorphic robotic hand	[No Robot Listed]	Shirafuji, S.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Intelligent Multi-fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)	Inmoov Hand	Suresh, A.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Intelligent Multi-fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)	Inmoov Hand	Suresh, A.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Intelligent Multi-fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)	Inmoov Hand	Suresh, A.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Intelligent Multi-fingered Dexterous Hand Using Virtual Reality (VR) and Robot Operating System (ROS)	Inmoov Hand	Suresh, A.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The “Federica” Hand	Federica Hand	Esposito, D.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The “Federica” Hand	Federica Hand	Esposito, D.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The “Federica” Hand	Federica Hand	Esposito, D.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The “Federica” Hand	Federica Hand	Esposito, D.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Nadine: A Social Robot that Can Localize Objects and Grasp Them in a Human Way	Nadine Hand	Thalmann, N.M.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Nadine: A Social Robot that Can Localize Objects and Grasp Them in a Human Way	Nadine Hand	Thalmann, N.M.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Nadine: A Social Robot that Can Localize Objects and Grasp Them in a Human Way	Nadine Hand	Thalmann, N.M.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Nadine: A Social Robot that Can Localize Objects and Grasp Them in a Human Way	Nadine Hand	Thalmann, N.M.
IP Joint Structual Design (1 DOF)	Finger_Index	closed hinge joint	The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand	Nadine Hand (Li modified)	Tian, L.
IP Joint Structual Design (1 DOF)	Finger_Middle	closed hinge joint	The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand	Nadine Hand (Li modified)	Tian, L.
IP Joint Structual Design (1 DOF)	Finger_Ring-Little	closed hinge joint	The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand	Nadine Hand (Li modified)	Tian, L.
IP Joint Structual Design (1 DOF)	Thumb	closed hinge joint	The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand	Nadine Hand (Li modified)	Tian, L.
Eliminating 4 DOA Flexion-Extension LF-RF-MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension LF-RF-MF-IF-Tb	The “Federica” Hand	Federica Hand	Esposito, D.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon underactuation of three joints	The “Federica” Hand	Federica Hand	Esposito, D.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon underactuation of three joints	The “Federica” Hand	Federica Hand	Esposito, D.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	tendon underactuation of three joints	The “Federica” Hand	Federica Hand	Esposito, D.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	tendon underactuation of three joints	The “Federica” Hand	Federica Hand	Esposito, D.
Type of Underactuation Interfinger	Transmission	The movable pulley	The “Federica” Hand	Federica Hand	Esposito, D.
Type of Underactuation Interfinger	Transmission	seesaw bar	The “Federica” Hand	Federica Hand	Esposito, D.
Type of Underactuation Interfinger	Transmission	seesaw bar	A highly-underactuated robotic hand with force and joint angle sensors	Columbia Hand	Wang, L.
Eliminating 2 DoA Flexion/Extension MF-IF-Tb	Transmission	Tendon Underactuation flexion/extension MF-IF-Tb	A highly-underactuated robotic hand with force and joint angle sensors	Columbia Hand	Wang, L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon underactuation of three joints	A highly-underactuated robotic hand with force and joint angle sensors	Columbia Hand	Wang, L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon underactuation of three joints	A highly-underactuated robotic hand with force and joint angle sensors	Columbia Hand	Wang, L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Thumb	tendon underactuation of three joints	A highly-underactuated robotic hand with force and joint angle sensors	Columbia Hand	Wang, L.
Eliminating 1 DoA PIP-DIP Joints	Finger_Index	linkage underactuation of two joints	Development of Cable-driven Anthropomorphic Robot Hand	Min Robot Hand	Min, S.
Eliminating 1 DoA PIP-DIP Joints	Finger_Middle	linkage underactuation of two joints	Development of Cable-driven Anthropomorphic Robot Hand	Min Robot Hand	Min, S.
Eliminating 1 DoA PIP-DIP Joints	Finger_Ring-Little	linkage underactuation of two joints	Development of Cable-driven Anthropomorphic Robot Hand	Min Robot Hand	Min, S.
Eliminating 1 DoA MCP-PIP Joints	Thumb	linkage underactuation of two joints	Development of Cable-driven Anthropomorphic Robot Hand	Min Robot Hand	Min, S.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	closed hinge joint	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	closed hinge joint	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Aduction below	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Aduction below	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Aduction below	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Design of the Utah/M.I.T. Dextrous Hand	Utah/MIT Hand	Jacobsen, S.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	closed hinge joint	Anthropomorphic Joint Mechanism with Two Degrees of Freedom	[No Robot Listed]	Choi, H.R.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	closed hinge joint	Anthropomorphic Joint Mechanism with Two Degrees of Freedom	[No Robot Listed]	Choi, H.R.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	closed hinge joint	Anthropomorphic Joint Mechanism with Two Degrees of Freedom	[No Robot Listed]	Choi, H.R.
TMC Joint Mechanical Design (2 DoF)	Thumb	closed hinge joint	Anthropomorphic Joint Mechanism with Two Degrees of Freedom	[No Robot Listed]	Choi, H.R.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	ball joint	Design and analysis of an active 2-DOF lockable joint	[No Robot Listed]	Riabtsev, M.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	ball joint	Design and analysis of an active 2-DOF lockable joint	[No Robot Listed]	Riabtsev, M.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	ball joint	Design and analysis of an active 2-DOF lockable joint	[No Robot Listed]	Riabtsev, M.
TMC Joint Mechanical Design (2 DoF)	Thumb	ball joint	Design and analysis of an active 2-DOF lockable joint	[No Robot Listed]	Riabtsev, M.
TMC Joint Mechanical Design (2 DoF)	Thumb	ball joint	A Low-cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling	[No Robot Listed]	Xu, Z.
MCP Joint Mechanical Design (2 DoF)	Finger_Index	ball joint	A Low-cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling	[No Robot Listed]	Xu, Z.
MCP Joint Mechanical Design (2 DoF)	Finger_Middle	ball joint	A Low-cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling	[No Robot Listed]	Xu, Z.
MCP Joint Mechanical Design (2 DoF)	Finger_Ring-Little	ball joint	A Low-cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling	[No Robot Listed]	Xu, Z.
TMC Joint Mechanical Design (3 DoF)	Thumb	ball joint	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 1 MCP Joint DoF	Finger_Index	Eliminating MCP Adduction/Abduction DOF	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 1 MCP Joint DoF	Finger_Middle	Eliminating MCP Adduction/Abduction DOF	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 1 MCP Joint DoF	Finger_Ring-Little	Eliminating MCP Adduction/Abduction DOF	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon coupling of three joints	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon coupling of three joints	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	tendon coupling of three joints	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Aduction below	DLR-Hand II: next generation of a dextrous robot hand	DLR Hand II	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Aduction below	DLR-Hand II: next generation of a dextrous robot hand	DLR Hand II	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Aduction below	DLR-Hand II: next generation of a dextrous robot hand	DLR Hand II	Butterfass, J.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Aduction below	DLR-Hand II: next generation of a dextrous robot hand	DLR Hand II	Butterfass, J.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Aduction below	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Aduction below	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Aduction below	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Aduction below	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Aduction below	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Aduction below	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Aduction below	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Aduction below	Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II	Gifu Hand II	Kawasaki, H.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Aduction below	The multifingered NAIST hand system for robot in-hand manipulation	NAIST Hand	Ueda, J.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Aduction below	The multifingered NAIST hand system for robot in-hand manipulation	NAIST Hand	Ueda, J.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Aduction below	The multifingered NAIST hand system for robot in-hand manipulation	NAIST Hand	Ueda, J.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Aduction below	The multifingered NAIST hand system for robot in-hand manipulation	NAIST Hand	Ueda, J.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Adduction at top	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Adduction at top	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Adduction at top	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Adduction at top	Multisensory five-finger dexterous hand: The DLR/HIT Hand II	DLR/HIT Hand II	Liu, H.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and intersecting - Abduction/Adduction at top	Design of the TUAT/Karlsruhe humanoid hand	TUAT/Karlsruhe Hand	Fukaya, N.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and intersecting - Abduction/Adduction at top	Design of the TUAT/Karlsruhe humanoid hand	TUAT/Karlsruhe Hand	Fukaya, N.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and intersecting - Abduction/Adduction at top	Design of the TUAT/Karlsruhe humanoid hand	TUAT/Karlsruhe Hand	Fukaya, N.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and intersecting - Abduction/Adduction at top	Design of the TUAT/Karlsruhe humanoid hand	TUAT/Karlsruhe Hand	Fukaya, N.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - other configuration	Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins	Twendy-One Hand	Iwata, H.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	Design, realization and sensorization of the dexterous iCub hand	iCub Hand	Schmitz, A.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping	Dexmart Hand	Palli, G.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and non-intersecting - Adduction/Abduction below	NAIST hand 2: Human-sized anthropomorphic robot hand with detachable mechanism at the wrist	NAIST Hand 2	Kurita, Y.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and non-intersecting - Adduction/Abduction below	NAIST hand 2: Human-sized anthropomorphic robot hand with detachable mechanism at the wrist	NAIST Hand 2	Kurita, Y.
MCP Joint Structual Design (2 DOF)	Finger_Ring-Little	2 axis orthogonal and non-intersecting - Adduction/Abduction below	NAIST hand 2: Human-sized anthropomorphic robot hand with detachable mechanism at the wrist	NAIST Hand 2	Kurita, Y.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	NAIST hand 2: Human-sized anthropomorphic robot hand with detachable mechanism at the wrist	NAIST Hand 2	Kurita, Y.
MCP Joint Structual Design (2 DOF)	Finger_Index	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
MCP Joint Structual Design (2 DOF)	Finger_Middle	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
MCP Joint Strucutal Design (1 DOF)	Finger_Ring-Little	1 axis	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	The Robonaut 2 hand - designed to do work with tools	Robonaut Hand 2	Bridgwater, L. B.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction at top	Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators	DARPA Extrinsic Hand	Andrianesis, K.
MCP Joint Strucutal Design (1 DOF)	Finger_Index	1 axis	Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators	DARPA Extrinsic Hand	Andrianesis, K.
MCP Joint Strucutal Design (1 DOF)	Finger_Middle	1 axis	Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators	DARPA Extrinsic Hand	Andrianesis, K.
MCP Joint Strucutal Design (1 DOF)	Finger_Ring-Little	1 axis	Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators	DARPA Extrinsic Hand	Andrianesis, K.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - other configuration	Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand	ARTS Hand	Controzzi, M.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand	ARTS Hand	Controzzi, M.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	Anthropomorphic Robot Hand: Gifu Hand III (narod.ru)	Gifu Hand III	Mouri, T.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	DLR's multisensory articulated hand. I. Hard- and software architecture	DLR Hand I	Butterfass, J.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	Design of the NASA Robonaut Hand	Robonaut Hand	Lovchik, C. V.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	Approaching Human Performance	Awiwi Hand	Grebenstein, M.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
TMC Joint Structual Design (3 DOF)	Thumb	3 axis - other configuration	The modular multisensory DLR-HIT-Hand	DLR/HIT Hand I	Liu, H.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	tendon underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	tendon underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	tendon underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	tendon underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	linkage underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	On the Design of Underactuated Finger Mechanisms for Robotic Hands	[No Robot Listed]	Rea, P.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Index	linkage underactuation of three joints	A fully rotational joint underactuated finger mechanism and its kinematics analysis	[No Robot Listed]	Wu, L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Middle	linkage underactuation of three joints	A fully rotational joint underactuated finger mechanism and its kinematics analysis	[No Robot Listed]	Wu, L.
Eliminating 2 DoA MCP-PIP-DIP Joints	Finger_Ring-Little	linkage underactuation of three joints	A fully rotational joint underactuated finger mechanism and its kinematics analysis	[No Robot Listed]	Wu, L.
Eliminating 2 DoA TMC-MCP-IP Joints	Thumb	linkage underactuation of three joints	A fully rotational joint underactuated finger mechanism and its kinematics analysis	[No Robot Listed]	Wu, L.
TMC Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation	Etho Hand	Konnaris, C.
TMC Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	Mechanisms of the Anatomically Correct Testbed Hand	ACT Hand	Deshpande, A. D.
TMC Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration	HBA Hand	Xu, Z.
TMC Joint Position	Kinetic-Base-Chain	Anthropomorphic Position	A Novel Monolithic Soft Robotic Thumb for an Anthropomorphic Prosthetic Hand	Uow/ACES Hand	Zhou, H.
TMC Joint Position	Kinetic-Base-Chain	variable positioning	BEBIONIC PROSTHETIC DESIGN	BEBIONIC Hand	Medynski, Courtney
TMC Joint Position	Kinetic-Base-Chain	variable positioning	Prothetic hands from touch bionics	I Limb Hand	Connolly, C.
TMC Joint Position	Kinetic-Base-Chain	variable positioning	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Joint Strucutal Design (1 DOF)	Finger_Index	1 axis	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Joint Strucutal Design (1 DOF)	Finger_Middle	1 axis	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Joint Strucutal Design (1 DOF)	Finger_Ring-Little	1 axis	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Joint Strucutal Design (1 DOF)	Thumb	1 axis	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
IP Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Mechanical Joint Design (1 DoF)	Finger_Index	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Mechanical Joint Design (1 DoF)	Finger_Ring-Little	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
MCP Mechanical Joint Design (1 DoF)	Thumb	closed hinge joint	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis not orthogonal and non-intersecting - other configuration	The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation	New Dexterity Adaptive Humanlike Robot Hand	Gao, G.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis not orthogonal and non-intersecting - other configuration	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Joint Strucutal Design (1 DOF)	Finger_Index	1 axis	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Joint Strucutal Design (1 DOF)	Finger_Middle	1 axis	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Joint Strucutal Design (1 DOF)	Finger_Ring-Little	1 axis	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
IP Joint Mechanical Design (1 DoF)	Finger_Index	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
IP Joint Mechanical Design (1 DoF)	Finger_Middle	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
IP Joint Mechanical Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Mechanical Joint Design (1 DoF)	Finger_Index	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Mechanical Joint Design (1 DoF)	Finger_Middle	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
MCP Mechanical Joint Design (1 DoF)	Finger_Ring-Little	closed hinge joint	Design of an Underactuated Adptive Robotic Hand with Force Sensing	FTN Hand	Savic, S.
TMC Joint Structual Design (2 DOF)	Thumb	2 axis orthogonal and non-intersecting - Adduction/Abduction below	An Optical Joint Position Sensor for Anthropomorphic Robot Hands	UBH-IV Hand	Palli, G.
Transmission concept	Transmission	Agonistic Tendon with Elastic Band	Einfluss der Gelenkkonfiguration auf die Greifperformance einer anthropomorphen Roboterhand	IGMR Hand	Polzin, S.
Phalanx Design	Finger_Index	filled cuboid	Einfluss der Gelenkkonfiguration auf die Greifperformance einer anthropomorphen Roboterhand	IGMR Hand	Polzin, S.
Phalanx Design	Finger_Middle	filled cuboid	Einfluss der Gelenkkonfiguration auf die Greifperformance einer anthropomorphen Roboterhand	IGMR Hand	Polzin, S.
Phalanx Design	Finger_Ring-Little	filled cuboid	Einfluss der Gelenkkonfiguration auf die Greifperformance einer anthropomorphen Roboterhand	IGMR Hand	Polzin, S.
Phalanx Design	Thumb	filled cuboid	Einfluss der Gelenkkonfiguration auf die Greifperformance einer anthropomorphen Roboterhand	IGMR Hand	Polzin, S.
TMC Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	UT hand I: A lock-based underactuated hand prosthesis	UT Hand I	Peerdeman, B.
TMC Joint Mechanical Design (1 DoF)	Thumb	closed hinge joint	Experimental analysis of an innovative prosthetic hand with proprioceptive sensors	RTR Hand II	Carrozza, M. C.
Contact material (Skin)	Housing	foam rubber	Einfluss der Gelenkkonfiguration auf die Greifperformance einer anthropomorphen Roboterhand	IGMR Hand	Polzin, S.