1.

Introduction
1.1. Short introduction
1.2. Topic for the presentation
1.3. Background
1.4. Sections summary
2. Body
2.1. Basic concepts
2.1.1. Anthropomorphic End-Effectors
2.1.1.1. Reasons for achieve anthropomorphism
2.1.1.1.1. End-effector can operate in humman-oriented environment
2.1.1.1.2. End-effector can be teleoperated by a humman operator
2.1.1.1.3. For purposes of entertainment, assistance
2.1.1.1.4. End-effectors for prosthetic purposes
2.1.1.2. Aspects to determine the anthropomorphism level
2.1.1.2.1. Kinematics
2.1.1.2.2. Contact surfaces
2.1.1.2.3. Size
2.1.2. Dexterity of a Robotic Hand
2.1.2.1. Main capabilities of a human hand
2.1.2.1.1. Prehension
2.1.2.1.2. Apprehension
2.1.2.2. Main areas of dexterity domain
2.1.2.2.1. Grasping
2.1.2.2.2. Internal manipulation
2.2. Design of Robot Hands
2.2.1. Actuation Placement and Motion Transmission
2.2.1.1. In-Site Actuation
2.2.1.1.1. Direct-drive actuation
2.2.1.1.2. Link-hosted actuation
2.2.1.2. Remote Actuation
2.2.1.2.1. Flexible-Link Transmission
2.2.1.2.1.1. Linear flexible transmission
2.2.1.2.1.1.1. Pulley-routed flexible elements
2.2.1.2.1.1.2. Sheath-routed flexible elements
2.2.1.2.1.2. Rotational flexible transmissions
2.2.1.2.2. Rigid-Link Transmission
2.2.1.2.2.1. Parallel axes gear train
2.2.1.2.2.2. Nonparallel axes gear train
2.2.2. Actuation architectures
2.2.2.1. Main categories of actuation schemes
2.2.2.1.1. Less actuators than joints
2.2.2.1.2. Same actuators than joints
2.2.2.1.3. More actuators than joints
2.2.2.2. Actuation modalities
2.2.2.2.1. Single-acting actuators
2.2.2.2.1.1. With passive return elements (Pros/Cons)
2.2.2.2.1.2. Agonistic-Antagonistic (Pros/Cons)
 2.2.2.2.1.3. Organized According to the concept of Actuation Net
(Pros/Cons)
2.2.2.2.2. Double-acting actuators
2.2.2.2.2.1. Less actuators than joints
2.2.2.2.2.1.1. Joints kinematically coupled
2.2.2.2.2.1.1.1. In a fixed way
2.2.2.2.2.1.1.2. In a nonfixed way
2.2.2.2.2.1.2. Joints Selectively Driven by the motor
2.2.2.2.2.2. Same actuators than joints
2.3. Technologies for Actuation and Sensing
2.3.1. Actuation
2.3.2. Sensors
2.3.2.1. Proprioceptive sensors
2.3.2.1.1. Joint Position/Velocity Sensors
2.3.2.2. Exteroceptive sensors
2.3.2.2.1. Tendon Tension Sensor and Joint Torque Sensor
2.3.2.2.1.1. Tendon tensin sensing
2.3.2.2.1.2. Tension-sensor-based torque sensing
2.3.2.2.1.3. Tension-differential-type sensor
2.3.2.2.2. Fingertip Tactile (or Force) Sensors
2.3.2.2.2.1. Convex shape
2.3.2.2.2.2. Concave shape
2.3.2.2.2.3. Six-axis force sensor
2.4. Modeling and Control of a Robot Hand
2.4.1. Dynamic Effects of Flexible Transmission Systems
2.4.1.1. Model of a robot joint with transmission flexibility
2.4.1.2. Model of a robot joint with tendn-based transmission
2.4.2. Transmission Model of Tendon-Outer-Tube System
2.4.3. Control Through Single-Acting Actuators
2.5. Aplications and Trends
3. Conclusion
3.1. Main points summary
3.2. Concluding remarks