Sensory perception for dexterous robotic hands is an active research area and recent progress in robotics. Effective dexterous manipulation requires robotic hands to accurately feedback their state or perceive the surrounding environment. This article reviews the state-of-the-art of sensory perception for dexterous robotic manipulation. Two types of sensors, such as intrinsic and extrinsic sensors, are introduced according to their function and layout in robotic hands. These sensors provide rich information to a robotic hand, which contains the posture, the contact information of objects, and the physical information of the environment. Then, a comprehensive analysis of perception methods including planning-level, control-level, and learning-level perceptions is presented. The information obtained from sensory perception can help robotic hands to make decisions effectively. Previously issued reviews mainly focus on the design of tactile senor, while we analyze and discuss the relationship among sensing, perception, and dexterous manipulation. Some potential research topics on sensory perception are also summarized and discussed.

灵巧的机器人手的感官感知是一个活跃的研究领域，也是机器人技术的最新进展。有效的灵巧操作需要机械手准确地反馈其状态或感知周围环境。本文回顾了用于灵巧机器人操作的感官知觉的最新技术。根据其在机器人手中的功能和布局，介绍了两种类型的传感器，如内在和外在传感器。这些传感器为机械手提供丰富的信息，包括姿势、物体的接触信息以及环境的物理信息。然后，对包括计划级、控制级和学习级感知在内的感知方法进行了综合分析。从感官知觉中获得的信息可以帮助机械手有效地做出决策。之前发表的评论主要集中在触觉传感器的设计上，而我们分析和讨论了感知、感知和灵巧操作之间的关系。还总结和讨论了一些关于感官知觉的潜在研究课题。