Grasp quality measures: review and performance
نویسندگان
چکیده
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.
منابع مشابه
Grasp quality measures
The correct grasp of objects is a key aspect for the right fulfillment of a given task. In robotics, the development of grippers more and more complex and versatile, such as mechanical hands, augments the necessity for algorithms to automatically determine grasps, and in a parallel way, arises the need to quantify the quality of the generated grasps in order to optimize them. This work reviews ...
متن کاملGrasp quality measures based on point-cloud input
Developing robotic systems for selective harvesting is an important but challenging task due to the complicated nature of the task and the environment. Robotic selective harvesting comprises three major components: detection, grasping and manipulation. It is important in such a task is to embed perception capabilities within grasp planning and execution. To this end we have developed grasp qual...
متن کاملEvaluation of Human Prehension Using Grasp Quality Measures
One of the main features of the human hand is its grasping ability. Robot grasping has been studied for years and different quality measures have been proposed to evaluate the stability and manipulability of grasps. Although the human hand is obviously more complex than robot hands, the methods used in robotics might be adopted to study the human grasp. The purpose of this ...
متن کاملTask oriented optimal grasping by multifingered robot hands
The problem of optimal grasping of an object by a multifingered robot hand is discussed. Using screw theory and elementary differential geometry, the concept of a grasp is axiomated and its stability characterized. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task oriented and needs the development of a procedure for modeling tasks as ellipsoids i...
متن کاملValidity of movement pattern kinematics as measures of arm motor impairment poststroke.
BACKGROUND AND PURPOSE Upper limb motor impairment poststroke is commonly evaluated using clinical outcome measures such as the Fugl-Meyer Assessment. However, most clinical measures provide little information about motor patterns and compensations (eg, trunk displacement) used for task performance. Such information is obtained using movement quality kinematic variables (joint ranges, trunk dis...
متن کامل