Experimental validation of an optimization formulation of the human grasping quality sense

Moshe Hershkovitz, Uri Tasch, Marc Teboulle, Joseph Tzelgov

Research output: Contribution to journalArticlepeer-review

13 Scopus citations


An experimental procedure that evaluates the quality of a grasp is developed. In this procedure human subjects grasp a rigid object that is subjected to an external load. Three formulations that capture the sense of grasping quality through the energy level stored in the gripper, maximum value of the applied finger forces, and through the distribution of the grasping forces are considered. The applied finger forces are measured and the quality values of the grasp based on these three different formulations are computed. These grasping quality values are compared with numerical human assessments, that are obtained via a psychophysical magnitude estimation method. We derive an augmented weighted functional that combines these three formulations, and show that it exhibits a high correlation with human quality assessment. Our results demonstrate that the most dominant mechanism that characterizes the quality of a rigid body grasp is the uniformity level of the contact forces.

Original languageEnglish
Pages (from-to)753-766
Number of pages14
JournalJournal of Robotic Systems
Issue number11
StatePublished - 1 Jan 1997

ASJC Scopus subject areas

  • Control and Systems Engineering


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