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Research questionHow can robotic-hand designers compare pinch capability from kinematics before object and contact models?Conventional grasp assessment often depends on object geometry or contact forces that are unavailable during early hand design. Designers therefore need a kinematic way to screen whether different structures can support useful pinch configurations.
Evaluation & Benchmarks
Robotics
Latest papersRecent research connected to this question, newest first.A Kinematic Framework for Screening Candidate Pinch Configurations in Robotic Hand Design without Object or Contact ModelsThe source evaluates fingertip reachable workspaces and pairwise fingertip relationships across four hand kinematic structures. Its evidence is limited to pinch-configuration screening from kinematics and does not assess object-specific grasps or contact forces.research paper · Sep 4, 2026
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