The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions vary from being small, accurate and highly controllable such as the surgical tool effectors of the Da Vinci robot (designed to be used as non-invasive grippers controlled by a human operator during keyhole surgeries) to larger, highly controllable grippers like the Shadow Dexterous Hand (designed to recreate the hand motions of a human). Additionally, there are less finely controllable grippers, such as the iRobot-Harvard-Yale (iHY) Hand or Istituto Italiano di Tecnoglia-Pisa (IIT-Pisa) Softhand, which instead leverage natural motions during grasping via designs inspired by observed bio-mechanical systems. As robotic systems become more autonomous and widely used, it is becoming increasingly important to consider the design, form and function of robotic grippers.

翻译：机器人抓取器的发展受限于执行特定手动任务或实现操作处理中特定目标的需求。具有特定功能的抓取器类型多样，小到精密、高可控性的设备，如达芬奇手术系统中的手术工具执行器（设计为非侵入式抓取器，由人类操作员在微创手术中控制），大到高可控性的抓取器，如Shadow Dexterous Hand（旨在模拟人类手部运动）。此外，还存在可控性较低的抓取器，例如iRobot-Harvard-Yale (iHY) Hand或意大利技术研究院-比萨大学 (IIT-Pisa) Softhand，它们通过模仿观察到的生物力学系统设计，在抓取过程中利用自然运动。随着机器人系统日益自主化并广泛应用，机器人抓取器的设计、形态与功能考量正变得愈发重要。