On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands.

The availability of grasp quality measures is fundamental for grasp planning and control, and also to drive designers in the definition and optimization of robotic hands. This work investigates on grasp robustness and quality indexes that can be applied to power grasps with underactuated and compliant hands. When dealing with such types of hands, there is the need of an evaluation method that take...