01219nas a2200193 4500008004100000245006800041210006700109260004800176520055500224653001300779653001200792653001600804100002000820700001900840700001500859700001400874700001700888856012000905 1996 eng d00aContact and Grasp Robustness Measures: Analysis and Experiments0 aContact and Grasp Robustness Measures Analysis and Experiments aBerlin Heidelberg, GermanybSpringer Verlag3 a
In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so–called ``Instrumented Talon'', are reported as an illustration.
10aGrasping10aHaptics10aRobot Hands1 aPrattichizzo, D1 aSalisbury, J K1 aBicchi, A.1 aKhatib, O1 aSalisbury, K uhttps://www.centropiaggio.unipi.it/publications/contact-and-grasp-robustness-measures-analysis-and-experiments.html