Grasp Dexterity Index: Manipulability of Objects Grasped by Multi-fingered Robotic Hands

Grasp Dexterity Index: Manipulability of Objects Grasped by Multi-fingered Robotic Hands | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Grasp Dexterity Index: Manipulability of Objects Grasped by Multi-fingered Robotic Hands S. Barat, Vatsal Ketankumar Joshi, Debojit Das, Harish J. Palanthandalam-Madapusi This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9620791/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In-hand manipulation of a grasped object or force production using a grasped object with a multi-fingered hand requires an understanding of the relationship between grasp configurations and object manipulability. Object manipulability is not only a function of the planned grasp, including the number of fingers used for grasping and the contact points on the object, but is also a function of the in-hand positioning of the held object and specific finger configurations within the range of infinitely many redundant configurations. While there is a significant body of work on grasp planning and manipulability for serial-chain manipulators, there is a need for a simple and practical metric that combines all factors important for determining the manipulability of a grasped object, particularly for a multi-fingered, multi-degree-of-freedom hand. In this work, we develop the Grasp Dexterity Index (GDI) as a combined metric that takes advantage of existing manipulability metrics, and we analyse the utility of this metric through simulation test cases, including cases that vary in-hand position and internal motions, and through a pilot-scale human study with six different day-to-day objects. This research provides an important step toward better evaluation of robot manipulation tasks with multi-fingered, multi-degree-of-freedom hands. grasp dexterity index grasp manipulability multi-fingered robotic hands in-hand manipulation redundancy optimization human grasping Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9620791","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":635417049,"identity":"8fc92664-2996-4ae2-a2d5-320e2491bc36","order_by":0,"name":"S. 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