Table 1.

General characteristic of the existing robot hands.

Reference	Complete Finger (5)	Complete Joint (14)	Cable-Driven Actuator	Individual Actuated Finger	Average Human Hand Size	3D Printed Structure	Detachable Finger Structure	Mechanical Stopper
Commercial device
Vincent hand [16]	✓	X	X	✓	✓	X	X	X
iLimb hand [17]	✓	X	X	✓	✓	X	X	X
iLimb pulse [17]	✓	X	X	✓	✓	X	X	X
Bebionic hand [18]	✓	X	X	✓	✓	X	X	X
Bebionic V2 [18]	✓	X	X	✓	✓	X	X	X
Michelanglelo hand [19]	✓	X	X	X	✓	X	X	X
Research prototype
Prototype A [4]	X	✓	X	X	X	X	X	X
Prototype B [5]	X	X	X	✓	X	✓	X	X
Prototype C [6]	X	✓	✓	X	X	X	X	X
Prototype D [8]	X	X	✓	X	✓	X	X	X
Prototype E [9]	✓	✓	✓	✓	X	X	X	X
Prototype F [10]	X	✓	✓	✓	X	✓	X	X
Prototype G [11]	✓	✓	✓	✓	X	X	X	✓
Prototype H [12]	✓	X	X	✓	X	X	X	X
Gifu hand II [13]	✓	✓	X	✓	X	X	X	X
Robonaut hand [20]	✓	✓	✓	✓	X	X	✓	✓
Prototype I [21]	✓	✓	X	✓	X	X	X	X
Prototype J [22]	✓	✓	X	✓	X	X	X	X
Gifu hand III [23]	✓	✓	X	✓	X	X	X	X
Prototype K [24]	✓	✓	✓	✓	✓	X	X	X
Prototype L [25]	✓	✓	✓	X	X	✓	X	X
Tact Hand [26]	✓	X	✓	✓	✓	✓	X	X