A survey on real-time controlled multi-fingered robotic hand

Based on a wide range of literature review, the basic concepts and methodologies of real-time controlled robotic hand grasping system are reorganized, presented and illustrated in this paper. Two different taxonomies of the grasp mode are described here based on the connectivity between the robot hand and the object, and the geometry of the object respectively. A generic architecture for vision guided grasping system is illustrated which could be used as a reference for designing any other grasping system in related fields. The criteria used for evaluating generated grasps are listed and a brief introduction of a useful 3D simulator "GraspIt!" is given in the corresponding section. In the last part of the paper, three types of approaches that drive the grasping system and some of their counter applications are presented.