{"paper":{"title":"Towards Robotic Dexterous Hand Intelligence: A Survey","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"A survey reviews hardware, methods, data, and evaluation to map the trajectory and open challenges in robotic dexterous hand research.","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Irwin King, Kaizhu Huang, Rui Zhang, Tian Liang, Weiguang Zhao, Xihao Guo","submitted_at":"2026-05-13T15:23:17Z","abstract_excerpt":"Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different assumptions regarding hand embodiments, sensory configurations, task settings, training data, and evaluation protocols, making systematic comparison difficult and obscuring the developmental trajectory of the field. This survey provides a holistic review of dexterous hand research from four complementary aspects. First, we present a hardware-level analysis covering a"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"By connecting hardware analysis, methodological development, data resources, and evaluation, this survey aims to provide a structured understanding of dexterous hand research and to clarify the most important open challenges for future study.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That the reviewed literature is sufficiently representative across embodiments, tasks, and evaluation protocols to reveal the true developmental trajectory without major selection bias.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"A survey reviews hardware, methods, data, and evaluation to map the trajectory and open challenges in robotic dexterous hand research.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"8739ee51310ec5c93bcd806ece1d4db5b388d23b02d9cd327a60ed7632ced41d"},"source":{"id":"2605.13925","kind":"arxiv","version":1},"verdict":{"id":"d1870245-2735-43c5-9131-a48e18aa7a48","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-15T05:41:46.618649Z","strongest_claim":"By connecting hardware analysis, methodological development, data resources, and evaluation, this survey aims to provide a structured understanding of dexterous hand research and to clarify the most important open challenges for future study.","one_line_summary":"A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That the reviewed literature is sufficiently representative across embodiments, tasks, and evaluation protocols to reveal the true developmental trajectory without major selection bias.","pith_extraction_headline":"A survey reviews hardware, methods, data, and evaluation to map the trajectory and open challenges in robotic dexterous hand research."},"references":{"count":218,"sample":[{"doi":"","year":2000,"title":"Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity,","work_id":"d869ef83-6833-4610-ad2e-fac43af008f1","ref_index":1,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2020,"title":"Mechanical aspects of robot hands, active hand orthoses, and prostheses: A compar- ative review,","work_id":"241fcb48-5ff2-440f-b12e-a58a86aab50d","ref_index":2,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2023,"title":"Actuated palms for soft robotic hands: review and perspectives,","work_id":"3f19a87c-76be-4d36-a1bc-e54c3f3a79ca","ref_index":3,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2023,"title":"Soft robotics enables neuroprosthetic hand design,","work_id":"4fa8e81a-a3d0-48f7-891a-08d646be5d6d","ref_index":4,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2011,"title":"Tactile sensing for dexterous in-hand manipulation in robotics—a review,","work_id":"bdaa8a7e-957e-45ae-82bf-6f157692894a","ref_index":5,"cited_arxiv_id":"","is_internal_anchor":false}],"resolved_work":218,"snapshot_sha256":"8f03e09bdaf0e0e04d5eb4eaa5c45a38ea2ee3ef2ae11a47c2237211f08c311b","internal_anchors":14},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}