Robotic Hand Hardware Performance Analysis on Representative Robotic Hands Comparative Study
23Degrees of Freedom (DOFs)ACT Hand
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| ACT HandFingers (non-active)=5(2), Anthropomorphic scale (× human hand)=1, Number of Actuators=24, Under actuation=Passive ligament2025.12 | 23 | — | — | — | — | |
| Antagonistic Bowden Cable-Driven Lightweight (ABCDL) Robotic HandFingers (non-active)=5, Anthropomorphic scale (× human hand)=1, Number of Actuators=15, Under actuation=Tendon2025.12 | 20 | 236 | 1,952 | 18 | 0.172 | |
| SeoulTech HandFingers (non-active)=5, Anthropomorphic scale (× human hand)=1, Number of Actuators=15, Under actuation=Tendon / spring2025.12 | 20 | 191 | 934 | 6 | 0.049 | |
| Casia handFingers (non-active)=5, Anthropomorphic scale (× human hand)=1.2, Number of Actuators=7, Under actuation=Tendon / spring2025.12 | 15 | 890 | — | 16 | — | |
| Biomimetic HandFingers (non-active)=5, Anthropomorphic scale (× human hand)=1, Number of Actuators=10, Under actuation=Compliant tissue2025.12 | — | — | 942 | — | — |