Table 2.
There are 21 kinds of dexterous hands based on linkage-driven mechanisms.
| Structure scheme | Natural motion | DOF | Series/parallel | |
|---|---|---|---|---|
| 1 (Kim et al., 2021) | Two C-FBL, One R-FBL | Yes | 3 | Parallel |
| 2 (Inspire Robots Dexterous Hand, n.d.) | Linkage transmission | No | 2 | Series |
| 3 (Controzzi et al., 2016) | One C-FBL | No | 2 | Series |
| 4 (Yan et al., 2017) | One FBL | No | 3 | Series |
| 5 (Sensor Hand Speed, n.d.) | Linkage transmission | No | 1 | Series |
| 6 (Yang et al., 2009) | One C-FBL, One R-FBL | Yes | 2 | Parallel |
| 7 (Dechev et al., 2001) | Two C-FBL | Yes | 1 | Series |
| 8 (Kyberd et al., 2001) | Two C-FBL | Yes | 2 | Series |
| 9 (Cheng et al., 2017) | One coupled-adaptive multi-bar linkage, One C-FBL | Yes | 2 | Parallel |
| 10 (Laliberté and Gosselin, 2001) | Two R-FBL | No | 2 | Series |
| 11 (Stavenuiter et al., 2017) | Linkage transmission | No | 2 | Series |
| 12 (Fukaya et al., 2000) | One multi-bar linkage, One C-FBL | Yes | 2 | Parallel |
| 13 (Yoon et al., 2016) | Two five-bar linkages, One C-FBL | Yes | 3 | Parallel |
| 14 (Zainul and Yamaura, 2012) | Two R-FBL equipped with a guiding slut | Yes | 3 | Parallel |
| 15 (Wu et al., 2009) | Two C-FBL | Yes | 3 | Parallel |
| 16 (Zhang et al., 2013) | One R-FBL, One C-FBL | Yes | 2 | Parallel |
| 17 (Li et al., 2017) | One R-FBL, One C-FBL | Yes | 2 | Parallel |
| 18 (Mu and Huang, 2007) | Parallelogram linkage | Yes | 3 | Parallel |
| 19 (Gopura et al., 2017) | Two R-FBL | Yes | 1 | Series |
| 20 (Khakpour and Birglen, 2013) | Six two-dimensional connecting rods | No | 3 | – |
| 21 (Lee, 2010) | Two C-FBL | Yes | 2 | Series |