Towards an objective evaluation of underactuated gripper designs

Eduardo Ruiz; Walterio Mayol-Cuevas

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Towards an objective evaluation of underactuated gripper designs

Eduardo Ruiz, Walterio Mayol-Cuevas

Robotics · Submitted 18 Jan 2016

abstract compiled · 2026-09-23 · no language-model review

The authors' main claim The results indicate and support that under motion constraints and uncertainties and without involving grasp planning, a 2-fingered underactuated compliant hand outperforms higher multi-fingered configurations.

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What the abstract itself states, as probabilities: claims first 0.94 · states limitation 0.54 · human participants 0.03 · controlled comparison 0.54 · randomized assignment 0.03 · states quantitative result 0.99 · compares with prior results 0.67 · mentions code or data availability 0.03.

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arXiv listing abstract v1. Results and the main claim are underlined; show every role.

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design modifications,and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions. Interested in non-planned grasping but rather on a design's generic performance, we explore the influence of object shape, pose and orientation relative to the gripper and its finger number and configuration. Using open-loop grasps we achieved up to 75% success rate over our trials. The results indicate and support that under motion constraints and uncertainties and without involving grasp planning, a 2-fingered underactuated compliant hand outperforms higher multi-fingered configurations. To our knowledge this is the first extended objective comparison of various multi-fingered underactuated hand designs under generic grasping conditions.

background contribution method result interpretation main claim

What the classifier reports for each sentence. The number is the probability it gave the label.
#	sentence	role	the authors' own work	states the main conclusion	strength
s0	In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task.	contribution 0.96	0.81	0.03	asserted 0.67
s1	Starting from a state of the art open gripper design, we propose design modifications,and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions.	method 0.69	0.96	0.03	asserted 0.95
s2	Interested in non-planned grasping but rather on a design's generic performance, we explore the influence of object shape, pose and orientation relative to the gripper and its finger number and configuration.	method 0.67	0.85	0.03	asserted 0.72
s3	Using open-loop grasps we achieved up to 75% success rate over our trials.	result 1.00	0.96	0.07	asserted 0.98
s4	The results indicate and support that under motion constraints and uncertainties and without involving grasp planning, a 2-fingered underactuated compliant hand outperforms higher multi-fingered configurations.	interpretation 0.68	0.93	0.90	hedged possibility 0.79
s5	To our knowledge this is the first extended objective comparison of various multi-fingered underactuated hand designs under generic grasping conditions.	contribution 0.69	0.73	0.06	asserted 0.88

What kind of paper the classifier reports this is: empirical study 1.00 · evidence from observation or experiment 1.00.

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arXiv listing abstract v1

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Every quoted sentence on this record is the authors'. Every label is from Pith's closed vocabulary, with the probability shown beside it. Every number in the measurements table is the authors', checked by code. Record as JSON

The paper

Original abstract

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design modifications,and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions. Interested in non-planned grasping but rather on a design's generic performance, we explore the influence of object shape, pose and orientation relative to the gripper and its finger number and configuration. Using open-loop grasps we achieved up to 75% success rate over our trials. The results indicate and support that under motion constraints and uncertainties and without involving grasp planning, a 2-fingered underactuated compliant hand outperforms higher multi-fingered configurations. To our knowledge this is the first extended objective comparison of various multi-fingered underactuated hand designs under generic grasping conditions.

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