{"paper":{"title":"KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Martin Peticco, Pulkit Agrawal","submitted_at":"2026-05-15T02:40:05Z","abstract_excerpt":"Traditional robotic hand metrics focus on static properties such as workspace, manipulability, and grasp stability. However, these metrics do not directly measure dexterity under the standard definition in robotic manipulation: the ability to continuously change an object's pose within the hand while maintaining contact from an initial grasp. We introduce Kinematic Rolling Manipulation Ability (KaRMA), a kinematic-only metric for fine manipulation that quantifies reachable in-hand translation and reorientation of a spherical test object within a two-finger precision pinch through feasible roll"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15548","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.15548/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T19:34:36.249896Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:41:56.097565Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"315684e54d32c9dd69da693452f40c7e823041703819a9b55ba93da2d9767614"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}