%0 Unpublished Work %D 2001 %T Machine hand design for dexterity, robustness of grasp, and interaction with humans %A A. Bicchi %E M. Cutkosky %E R. Howe %E J. K. Salisbury %E M. Srinivasan %K Haptics %K Robot Hands %G eng %0 Book Section %B Experimental Robotics-IV %D 1996 %T Contact and Grasp Robustness Measures: Analysis and Experiments %A D Prattichizzo %A J. K. Salisbury %A A. Bicchi %E O. Khatib %E K. Salisbury %K Grasping %K Haptics %K Robot Hands %X

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.

%B Experimental Robotics-IV %S LNCIS 223 %I Springer Verlag %C Berlin Heidelberg, Germany %G eng %0 Journal Article %J The Int. J. of Robotics Research %D 1993 %T Contact Sensing from Force and Torque Measurements %A A. Bicchi %A J. K. Salisbury %A D. L. Brock %K Haptics %K Robot Hands %K Sensors %B The Int. J. of Robotics Research %V 12 %P 249-262 %G eng %0 Book Section %B Experimental Robotics-III %D 1993 %T Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors %A A. Bicchi %A J. K. Salisbury %A D. L. Brock %E R. Chatila %E G. Hirzinger %K Haptics %K Robotics %B Experimental Robotics-III %S LNCIS 190 %I Springer Verlag %C Berlin Heidelberg, Germany %G eng %0 Conference Paper %B Proc. IEEE Conf. on Robotics and Automation %D 1989 %T Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing %A A. Bicchi %A J. K. Salisbury %A P. Dario %K Grasping %K Haptics %K Robot Hands %K Sensors %B Proc. IEEE Conf. on Robotics and Automation %C Scottsdale, AZ, USA %G eng