DLR Multi-fingered Hands

This chapter describes the history of development of multi-fingered hands at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). It provides an overview of kinematics, actuators, and sensors used in different hands, including DLR Hand I and DLR Hand II, Spacehand and Awiwi Hand, discussing also the lessons learned during the development process and the usage of the hands. A more in-depth description of the most recent DLR development, the Awiwi Hand, is provided to illustrate in detail the challenges of the design of robotic hands, including the consideration of functional aspects that guarantee achieving the required performance in these end effectors.