From Bionics to Precision Mechanical Design: A Study on the Structure and Function of Dexterous Hands in Humanoid Robots

With the rapid advancement of service robots, industrial collaborative robots, and intelligent prosthetic technologies, the dexterous hand of humanoid robots has become a focal point of research. As a key end-effector for humanoid robots to interact with the external environment, the dexterous hand embodies a profound integration of bionics and precision mechanical engineering. This paper begins with an analysis of the human hand’s anatomical structure and its implications for dexterous hand design. It then systematically reviews mainstream mechanical design approaches and functional implementation strategies for robotic hands, concluding with a discussion on future development trends.