Evaluation of Grasp Quality Measures in Real Grasps

This paper presents the implementation of grasp quality measures in a real-world robotic setup. Specifically, the largest wrench that a grasp can resist due to perturbations in any direction has been computed considering both the actual contact points and the magnitude of the actual grasping forces. The experiments were done using the Allegro Hand with OptoForce tactile sensors and a Fastrak motion tracking system. In this work, the grasp quality measure was experimentally computed using different objects without needing their detailed geometric models, and numerical results are provided.