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In this paper, a new Multiple Aspect Grasp (MAG) performance index is presented for evaluating grasp quality for object manipulation tasks. The position of contact points, the configuration of cooperative manipulators, and the kinetics aspects of manipulators and the manipulated object are taken into account by the proposed MAG index. The MAG index is used to evaluate the candidate grasp points, selecting the effective branch of inverse kinematics solution, and cooperation of two manipulators. Simulation results reveal capabilities of MAG index in grasp planning for both individual and cooperative object manipulation tasks.