Proposed Standard Terminology for Robotic Hands and Associated Performance Metrics (Draft)

Published

October 31, 2018

Author(s)

Joseph A. Falco, Karl Van Wyk, Elena R. Messina

Abstract

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.

Citation

Special Publication (NIST SP) - 1229 (Draft)

Report Number

1229 (Draft)

NIST Pub Series

Special Publication (NIST SP)

Pub Type

NIST Pubs

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DOI Link

Keywords

Grasping, Manipulation, Performance Metrics, Robotics

Citation

Falco, J. , Van, K. and Messina, E. (2018), Proposed Standard Terminology for Robotic Hands and Associated Performance Metrics (Draft), Special Publication (NIST SP), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://doi.org/10.6028/NIST.SP.1229-draft (Accessed April 25, 2024)