Abstract：
Robotic hands have long strived to reach the performance of human hands. The physical complexity and extraordinary capabilities of the human hand, in terms of sensing, actuation, and cognitive abilities, make achieving this goal challenging. At the heart of the physical structure of the hand is its\' passive behaviors. Seen most clearly in soft robotic hands, these behaviors influence and affect the mechanical, sensing, and control functionalities. With this perspective, we present a framework through which passivity in robot hands can be understood, by concretely identifying the role of passivity in the design, fabrication, and control of soft hands. In this framework we focus on the interactions between the physical hand and the: environment, internal actuation, sensor morphology, and wrist control. Taking these surrounding systems away, we are left with a passive soft hand whose behaviors emerge from external interactions. Inspired by the human hand, we define the role of these four key interacting pillars and review how state-of-the art robot hands utilize these four elements to aid functionality. We show how these pillars promote hybrid soft-rigid hands with rich behaviors, providing benefits in terms of the increased adaptability to uncertain environments, improved scalability and reduction in the cost of actuation, sensing, and control. This review provides a conceptual framework for approaching hand design and analysis through consideration of the passive behaviors. This highlights not only the advances that can be made by approaching the problem in this way but also the outstanding challenges that stem from this outlook.
摘要：
机器人手长期以来一直在努力达到人类手的性能。人类手的物理复杂性和非凡的能力，在传感方面，致动,和认知能力，使实现这一目标具有挑战性。手的物理结构的核心是它的被动行为。在柔软的机器人手中最清楚地看到，这些行为会影响和影响机械，传感,和控制功能。从这个角度来看,我们提出了一个框架，通过这个框架可以理解机器人手中的被动性，通过具体确定被动性在设计中的作用，fabrication,控制柔软的手。在这个框架中，我们专注于物理手和环境之间的相互作用，内部驱动,传感器形态学，和手腕控制。把这些周围的系统拿走，我们只剩下一只被动的软手，它的行为来自外部互动。受到人类手的启发，我们定义了这四个关键交互支柱的作用，并回顾了最先进的机器人手如何利用这四个元素来帮助功能。我们展示了这些支柱如何促进具有丰富行为的混合软刚性手，在增加对不确定环境的适应性方面提供好处，提高了可扩展性，降低了致动成本，传感,和控制。这篇综述提供了一个概念框架，通过考虑被动行为来进行手部设计和分析。这不仅突出了以这种方式处理问题可以取得的进展，而且突出了这种前景带来的突出挑战。
