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Benchmarking Framework Proposed for Evaluating Robotic Hand Grasping and Dexterity

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A new chapter on robotic hand benchmarking outlines a systematic method for measuring the capabilities and limits of robotic hands and grippers. It argues that repeatable experiments are preferable to isolated demonstrations, enabling objective comparisons across hand architectures, control strategies, and application needs. Because parallel-jaw grippers, underactuated hands, multifinger hands, and soft grippers differ fundamentally, performance is to be judged against intended tasks rather than a single universal ranking. The framework covers complementary dimensions such as grasp success, dexterity, contact stability, force regulation, speed, energy use, and reliability. Standardized object sets, such as the YCB Object Set, are highlighted as a way to improve reproducibility across laboratories.

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