Table 3 Quantitative comparison of representative dexterous robotic hands.
From: Opportunities challenges and roadmap for humanoid robots in construction
Hand | Dof | Actuation type | Fingertip force (N) | Kapandji score (0–10) |
|---|---|---|---|---|
Allegro Hand | 16 | Servo actuators |  ~ 15 N | 8 |
DLR hand II | 13 | Tendon-driven | 20–30 N | 9–10 |
Schunk SVH | 9 | Cable-driven | 25 N | 9 |
AR10 | 10 | Servo-driven |  ~ 5 N | 6 |
Biomimetic hand | 16 | Tendon/pneumatic hybrid | 10–15 N | 9 |
InMoov | 16 | Servo-driven |  ~ 5 N | 6 |
Shadow hand | 20 | Pneumatic/tendon hybrid | 40 N | 10 |
