Proposed Standard Terminology for Robotic Hands and Associated Performance Metrics (Draft)
Joseph A. Falco, Karl Van Wyk, Elena R. Messina
Increasing the flexibility and general-purpose applicability of robots is a longstanding goal. Several avenues of research addressing these goals include hand designs, sensing technologies, control algorithms. As part of the manipulation thrust, there has been a recent increase in the development of robotic hands. Inspired by nature, these end effectors hold potential for allowing robots to pick up and manipulate a broader range of objects, without requiring customized end-of- arm tooling or grippers. With this rapidly-growing number of robot hands with diverse designs, there is a need to capture their individual competencies and characteristics under a unified framework. This document presents the terminology and associated definitions to support this framework. By providing a common and consistent lexicon, the purpose of this terminology is to facilitate communication between individuals involved in the research, design, and integration of robotic hands.