Related papers: A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models

A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models

URL: http://arxiv.org/abs/2604.20692v1
Date: Wed, 22 Apr 2026 15:38:40 GMT
Title: A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models
Abstract summary: This study proposes a kinematic evaluation method for analyzing pinch configurations of robotic hands based on interactions between fingertip workspaces.<n>The proposed evaluation framework can serve as a useful tool for comparing different robotic hand designs and analyzing pinch capability during the design stage.
Score: 4.583417032181106
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Abstract: Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability during the early stages of robotic hand design. This study proposes a kinematic evaluation method for analyzing pinch configurations of robotic hands based on interactions between fingertip workspaces. First, the reachable workspace of each fingertip is computed from the joint configurations of the fingers. Then, feasible pinch configurations are detected by evaluating the relationships between fingertip pairs. Since the proposed method does not require information about object geometry or contact force models, the pinch capability of a robotic hand can be evaluated solely based on its kinematic structure. In addition, analyses are performed on four different kinematic structures of the hand to investigate their impact on the pinch configurations. The proposed evaluation framework can serve as a useful tool for comparing different robotic hand designs and analyzing pinch capability during the design stage.

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