Adequate biomimicry in robotics necessitates a delicate balance between design and control, an integral part of making our machines more like us. Advanced dexterity in humans is wrapped up in a long evolutionary tale of how our fists of fury evolved to accomplish complex tasks. With machines, designing a new robotic manipulator could mean long, manual iteration cycles of designing, fabricating, and evaluating guided by human intuition. Most robotic hands are designed for general purposes, as it’s very tedious to make task-specific hands. Existing methods battle trade-offs between the complexity…
