中文摘要：

机器人手爪既是一个主动感知工作环境信息的感知器，又是机器人末端的执行器，是一个高度集成的、具有多种感知功能和智能化的机电系统，涉及多个研究领域和交叉学科。本文综合分析了现有通用和专用机器人手爪的设计优缺点，以及手爪上应用的传感器和控制的研究现状，并总结提出了今后机器人手爪的研究重点，最后对未来的发展方向做出了展望。

英文摘要：

The robot hand is not only an active sensing instrument but also an end-effectors, it is high- integrative, multi- perceptive and intelligent machine and electricity system which involves many research fields and cross-subjects. This paper introduces summarily situation of study in the structure design, applied sensor and control system of universal and special robot hand. Meanwhile the future study emphasis and developing direction are forecasted in this field.