IEEE Robotics & Automation Magazine - September 2013 - 81

comparing their features with those of the reference model,
the human hand, it is evident that evolution is still necessary.
The impression is that the main problems are not due to
technological aspects but come from the design methodologies inherited from industrial robotics or conventional
mechanics. Innovative approaches based on nonconventional structures might be investigated to simplify the design,
reduce the costs, and possibly enhance the performance of
future robotic hands. In addition, off-the-shelf actuators and
sensors that can be directly integrated in anthropomorphic
hands do not exist, meaning that suitable solutions must be
investigated.
In light of this consideration, the authors have reviewed,
on the basis of their experience, some recent solutions concerning the finger structure, sensorimotor system, and soft
cover of the hand. The underlying philosophy is to pursue a
mechanical design that simplifies the hand manufacturing
and assembly procedure. The side effects of these design
choices are then compensated for through an appropriate
sensory apparatus fully integrated within the hand. The preliminary prototype of the UB Hand IV, developed with available technology, is also presented as an example of how the
proposed solutions can be integrated in a general framework
of reciprocal compatibility.
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Claudio Melchiorri, DEI, Universitá di Bologna, Italy.
E-mail: claudio.melchiorri@unibo.it.
Gianluca Palli, DEI, Universitá di Bologna, Italy.
E-mail: gianluca.palli@unibo.it.
Giovanni Berselli, DIEF, University of Modena and Reggio
Emilia, Modena, Italy. E-mail: giovanni.berselli@unimore.it.
Gabriele Vassura, DIEM, Universitá di Bologna, Italy.
E-mail: gabriele.vassura@unibo.it.

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