Robot inspired dexterous hands can achieve precise simulation of human hand movements; The dexterous hand is an output tool for humanoid robot operation and action decision execution. It imitates the bending and swinging movements of human fingers to achieve functions similar to human hands (such as grasping, gripping, holding, precision assembly, etc.). The human hand has up to 21 degrees of freedom in one hand. Looking at it separately:
1. In the direction of closed flexion of each finger, there are 3 degrees of freedom for the index finger, middle finger, ring finger, little finger, and thumb, totaling 15 degrees of freedom;
2. Each finger can also swing left and right, corresponding to 1 degree of freedom, for a total of 5 degrees of freedom;
3. The thumb can not only flex and swing the knuckles left and right, but also swing the thumb towards the palm of the hand, corresponding to an additional degree of freedom.  
The simulation of human hand movements with dexterous hands requires more degrees of freedom and significantly greater complexity. At present, the vast majority of robotic arms are unable to perfectly 'replicate' the functions of human hands, such as high degrees of freedom and compact structure.

According to the degrees of freedom and the number of driving sources, dexterous hands can be divided into two categories: fully driven and underactuated. The number of fully driven dexterous hand drive sources is equal to the number of degrees of freedom of the controlled dexterous hand, which can perform more agile actions. However, the setting of more drivers may make the palm volume larger, installation difficult, and operation complex.
The missing driving source part of the underactuated dexterous hand can be coupled and followed, and its overall system is simple, efficient, small in size, and light in weight. However, it may not be capable of precise finger control that requires high precision.

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