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The variety of robotic hand designs and actuation schemes makes it difficultto measure a hand's graspable volume. For end-users, this lack of standardizedmeasurements makes it challenging to determine a priori if a robot hand is theright size for grasping an object. We propose a practical hand measurementstandard, based on precision and power grasps, that is applicable to a widevariety of robot hand designs. The resulting measurements can be used to bothdetermine if an object will fit in the hand and characterize the size of anobject with respect to the hand. Our measurement procedure uses a functionalapproach, based on grasping a hypothetical cylinder, that allows the measurerchoose the exact hand orientation and finger configurations that are used forthe measurements. This ensures that the measurements are functionallycomparable while relying on the human to determine the finger configurationsthat best match the intended grasp. We demonstrate using our measurementstandard with three commercial robot hand designs and objects from the YCB dataset.

Measuring a Robot Hand's Graspable Region using Power and Precision Grasps