Where Does a Dexterous Hand's Touch Come From: A Detailed Look at Sensing Solutions for Joint Angles, Fingertip Force, and Slip

Tactile perception in dexterous hands mainly comes from three types of sensing solutions: joint angle, fingertip force, and slip. The article separately analyzes how joint angle sensing, fingertip force sensing, and slip sensing are implemented, and explains the role and differences of each solution in dexterous hands. The content is aimed at robotics developers and outlines approaches for selecting tactile sensors.