According to the different number of drivers and degrees of freedom after extensive literature analysis and research, the anthropomorphic hand is divided into the dexterous hand and the underactuated hand. In this paper, the two kinds of hands are mainly discussed in following aspects ： current situation, main characters, key technologies, major prob- lems, trends and the field of application. By comparing the two anthropomorphic hands, the follow conclusions are ob- tained ： first, the dexterous hand has a higher ability to manipulate and gr...
