{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T16:53:37Z","timestamp":1780419217598,"version":"3.54.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,1,22]],"date-time":"2022-01-22T00:00:00Z","timestamp":1642809600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,22]],"date-time":"2022-01-22T00:00:00Z","timestamp":1642809600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-15-CE10-0004"],"award-info":[{"award-number":["ANR-15-CE10-0004"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"crossref","award":["ANR-18-LCV2-0003"],"award-info":[{"award-number":["ANR-18-LCV2-0003"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,2]]},"DOI":"10.1007\/s10846-021-01554-4","type":"journal-article","created":{"date-parts":[[2022,1,22]],"date-time":"2022-01-22T10:03:36Z","timestamp":1642845816000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Evaluation and selection of grasp quality criteria for dexterous manipulation"],"prefix":"10.1007","volume":"104","author":[{"given":"H.","family":"Mnyussiwalla","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"P.","family":"Seguin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"P.","family":"Vulliez","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3185-6058","authenticated-orcid":false,"given":"J. P.","family":"Gazeau","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,1,22]]},"reference":[{"issue":"1","key":"1554_CR1","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1108\/01439910510573237","volume":"32","author":"Kochan","year":"2005","unstructured":"Kochan: Shadow delivers first hand. Industrial Robot. 32(1), 15\u201316 (2005)","journal-title":"Industrial Robot"},{"key":"1554_CR2","unstructured":"M. Grebenstein et al., \u00ab The DLR hand arm system \u00bb, International Conference on Robotics and Automation, pp. 3175-3182, Shanghai, 2011."},{"issue":"6","key":"1554_CR3","doi-asserted-by":"publisher","first-page":"809","DOI":"10.1109\/TSMC.2015.2468678","volume":"46","author":"H Mnyusiwalla","year":"2016","unstructured":"Mnyusiwalla, H., Vulliez, P., Gazeau, J.P., Zeghloul, S.: A New Dexterous Hand Based on Bio-Inspired Finger Design for Inside-Hand Manipulation. Transactions on Systems, Man, and Cybernetics: Systems. 46(6), 809\u2013817 (2016)","journal-title":"Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"3","key":"1554_CR4","doi-asserted-by":"publisher","first-page":"230","DOI":"10.1177\/027836499601500302","volume":"15","author":"KB Shimoga","year":"1996","unstructured":"Shimoga, K.B.: Robot Grasp Synthesis Algorithms: A Survey. International Journal of Robotics Research. 15(3), 230\u2013266 (1996)","journal-title":"International Journal of Robotics Research"},{"key":"1554_CR5","doi-asserted-by":"crossref","unstructured":"Bicchi, A., Kumar, V.: \u00ab Robotic grasping and contact: a review \u00bb, International Conference on Robotics and Automation, vol. 1, pp. 348\u2013353, San Francisco, CA, USA (2000)","DOI":"10.1109\/ROBOT.2000.844081"},{"issue":"3","key":"1554_CR6","doi-asserted-by":"publisher","first-page":"473","DOI":"10.1016\/j.robot.2011.07.017","volume":"60","author":"F Touvet","year":"2012","unstructured":"Touvet, F., Daoud, N., Gazeau, J.P., Zeghloul, S., Maier, M.A., Eskiizmirliler, S.: A biomimetic reach and grasp approach for mechanical hands. Robotics and Autonomous Systems. 60(3), 473\u2013486 (2012)","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"1554_CR7","doi-asserted-by":"publisher","first-page":"326","DOI":"10.1016\/j.robot.2011.07.016","volume":"60","author":"A Sahbani","year":"2012","unstructured":"Sahbani, A., El-Khoury, S., Bidaud, P.: An overview of 3D object grasp synthesis algorithms. Robotics and Autonomous Systems. 60(3), 326\u2013336 (2012)","journal-title":"Robotics and Autonomous Systems"},{"key":"1554_CR8","volume-title":"\u00ab A Roadmap to Advance Measurement Science in Robot Dexterity and Manipulation \u00bb, National Institute of Standards and Technology","author":"JA Falco","year":"2014","unstructured":"Falco, J.A., Marvel, J.A., Messina, E.R.: \u00ab A Roadmap to Advance Measurement Science in Robot Dexterity and Manipulation \u00bb, National Institute of Standards and Technology. U.S, Department of Commerce (2014)"},{"key":"1554_CR9","doi-asserted-by":"crossref","unstructured":"J.A. Haustein, K. Hang, D. Kragic, \u00ab Integrating motion and hierarchical fingertip grasp planning \u00bb, International Conference on Robotics and Automation, pp. 3439-3446, Singapore, 2017.","DOI":"10.1109\/ICRA.2017.7989392"},{"key":"1554_CR10","doi-asserted-by":"publisher","first-page":"319","DOI":"10.1007\/s10846-017-0562-1","volume":"89","author":"C Rubert","year":"2018","unstructured":"Rubert, C., Le\u00f3n, B., Morales, A., Sancho-Bru, J.: Characterisation of Grasp Quality Metrics. Journal of Intelligent & Robotic Systems. 89, 319\u2013342 (2018)","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"1554_CR11","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s10514-014-9402-3","volume":"38","author":"MA Roa","year":"2015","unstructured":"Roa, M.A., Su\u00e1rez, R.: Grasp quality measures: review and performance. Autonomous Robots. 38, 65\u201388 (2015)","journal-title":"Autonomous Robots"},{"issue":"3","key":"1554_CR12","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1109\/70.34763","volume":"5","author":"MR Cutkosky","year":"1989","unstructured":"Cutkosky, M.R.: On grasp choice, grasp models, and the design of hands for manufacturing tasks. Transactions on Robotics and Automation. 5(3), 269\u2013279 (1989)","journal-title":"Transactions on Robotics and Automation"},{"issue":"3","key":"1554_CR13","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/027836498800700301","volume":"7","author":"VD Nguyen","year":"1988","unstructured":"Nguyen, V.D.: Constructing Force-Closure Grasps. International Journal of Robotics Research. 7(3), 3\u201316 (1988)","journal-title":"International Journal of Robotics Research"},{"issue":"4","key":"1554_CR14","doi-asserted-by":"publisher","first-page":"939","DOI":"10.1007\/s11012-011-9486-1","volume":"47","author":"A Fernandez","year":"2012","unstructured":"Fernandez, A., Gazeau, J.P., Zeghloul, S., Lahouar, S.: Regrasping objects during manipulation tasks by combining genetic algorithms and finger gaiting. Meccanica. 47(4), 939\u2013950 (2012)","journal-title":"Meccanica"},{"key":"1554_CR15","doi-asserted-by":"publisher","first-page":"671","DOI":"10.1007\/978-3-540-30301-5_29","volume-title":"\u00ab Grasping \u00bb, Handbook of Robotics","author":"D Prattichizzo","year":"2008","unstructured":"Prattichizzo, D., Trinkle, J.: \u00ab Grasping \u00bb, Handbook of Robotics, pp. 671\u2013700. Springer, Berlin, Heidelberg (2008)"},{"key":"1554_CR16","unstructured":"R.M. Murray, S.S. Sastry, Z. Li, \u00ab A Mathematical Introduction to Robotic Manipulation \u00bb, CRC Press, Inc., USA, 1994."},{"issue":"5","key":"1554_CR17","doi-asserted-by":"publisher","first-page":"576","DOI":"10.1016\/j.mechmachtheory.2007.05.001","volume":"43","author":"Y Zheng","year":"2008","unstructured":"Zheng, Y., Qian, W.-H.: On some weaknesses existing in optimal grasp planning. Mechanism and Machine Theory. 43(5), 576\u2013590 (2008)","journal-title":"Mechanism and Machine Theory"},{"key":"1554_CR18","doi-asserted-by":"crossref","unstructured":"B. Bounab, D. Sidobre, A. Zaatri, \u00ab Central axis approach for computing n-finger force-closure grasps \u00bb, International Conference on Robotics and Automation, pp. 1169-1174, Pasadena, CA, 2008.","DOI":"10.1109\/ROBOT.2008.4543362"},{"issue":"7-8","key":"1554_CR19","doi-asserted-by":"publisher","first-page":"827","DOI":"10.1177\/0278364904045478","volume":"23","author":"YB Jia","year":"2004","unstructured":"Jia, Y.B.: Computation on Parametric Curves with an Application in Grasping. International Journal of Robotics Research. 23(7-8), 827\u2013857 (2004)","journal-title":"International Journal of Robotics Research"},{"key":"1554_CR20","unstructured":"A. Sudsang, T. Phoka, \u00ab Geometric Reformulation of 3-Fingered Force-Closure Condition \u00bb, International Conference on Robotics and Automation, pp. 2338-2343, Barcelona, Spain, 2005."},{"issue":"1","key":"1554_CR21","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1109\/TRA.2002.806774","volume":"19","author":"JW Li","year":"2003","unstructured":"Li, J.W., Liu, H., Cai, H.G.: On computing three-finger force-closure grasps of 2-D and 3-D objects. Transactions on Robotics and Automation. 19(1), 155\u2013161 (2003)","journal-title":"Transactions on Robotics and Automation"},{"issue":"6","key":"1554_CR22","doi-asserted-by":"publisher","first-page":"868","DOI":"10.1109\/70.478433","volume":"11","author":"J Ponce","year":"1995","unstructured":"Ponce, J., Faverjon, B.: On computing three-finger force-closure grasps of polygonal objects. Transactions on Robotics and Automation. 11(6), 868\u2013881 (1995)","journal-title":"Transactions on Robotics and Automation"},{"key":"1554_CR23","unstructured":"C. Ferrari, J. Canny, \u00ab Planning optimal grasps \u00bb, International Conference on Robotics and Automation, pp. 2290-2295, Nice, France 1992."},{"key":"1554_CR24","unstructured":"A.T. Miller, P.K. Allen, \u00ab Examples of 3D grasp quality computations \u00bb, International Conference on Robotics and Automation, pp. 1240-1246, Detroit, MI, USA, 1999."},{"issue":"1","key":"1554_CR25","first-page":"32","volume":"4","author":"Z Li","year":"1988","unstructured":"Li, Z., Sastry, S.S.: Task-oriented optimal grasping by multifingered robotic hands. Journal on Robotics and Automation. 4(1), 32\u201344 (1988)","journal-title":"Journal on Robotics and Automation"},{"key":"1554_CR26","unstructured":"B.H. Kim, S.R. Oh, B.J. Yi, I.H. Suh, \u00ab Optimal grasping based on non-dimensionalized performance indices \u00bb, International Conference on Intelligent Robots and Systems, pp. 949-956, Maui, HI, USA, 2001."},{"key":"1554_CR27","doi-asserted-by":"crossref","unstructured":"B. Mirtich, J. Canny, \u00ab Easily computable optimum grasps in 2-D and 3-D \u00bb, International Conference on Robotics and Automation, pp. 739-747, San Diego, CA, USA, 1994.","DOI":"10.1109\/ROBOT.1994.351399"},{"issue":"4","key":"1554_CR28","doi-asserted-by":"publisher","first-page":"515","DOI":"10.1109\/70.954765","volume":"17","author":"D Ding","year":"2001","unstructured":"Ding, D., Lee, Y.H., Wang, S.: Computation of 3-D form-closure grasps. Transactions on Robotics and Automation. 17(4), 515\u2013522 (2001)","journal-title":"Transactions on Robotics and Automation"},{"key":"1554_CR29","volume-title":"Robot Motion: Planning and Control","author":"M Brady","year":"1983","unstructured":"Brady, M.: Robot Motion: Planning and Control. M.I.T. Press, Cambridge MA, USA (1983)"},{"key":"1554_CR30","doi-asserted-by":"crossref","unstructured":"V. Lippiello, F. Ruggiero, L. Villani, \u00ab Floating visual grasp of unknown objects \u00bb, International Conference on Intelligent Robots and Systems, pp. 1290-1295, St. Louis, MO, 2009.","DOI":"10.1109\/IROS.2009.5354350"},{"issue":"6","key":"1554_CR31","doi-asserted-by":"publisher","first-page":"421","DOI":"10.1016\/j.robot.2011.02.005","volume":"59","author":"N Daoud","year":"2011","unstructured":"Daoud, N., Gazeau, J.P., Zeghloul, S., Arsicault, M.: A fast grasp synthesis method for online manipulation. Robotics and Autonomous Systems. 59(6), 421\u2013427 (2011)","journal-title":"Robotics and Autonomous Systems"},{"issue":"5","key":"1554_CR32","doi-asserted-by":"publisher","first-page":"517","DOI":"10.1016\/j.robot.2012.12.005","volume":"61","author":"E Mattar","year":"2013","unstructured":"Mattar, E.: A survey of bio-inspired robotics hands implementation: New directions in dexterous manipulation. Robotics and Autonomous Systems. 61(5), 517\u2013544 (2013)","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"1554_CR33","doi-asserted-by":"publisher","first-page":"326","DOI":"10.1016\/j.robot.2011.07.016","volume":"60","author":"A Sahbani","year":"2012","unstructured":"Sahbani, A., El-Khoury, S., Bidaud, P.: An overview of 3D object grasp synthesis algorithms. Robotics and Autonomous Systems. 60(3), 326\u2013336 (2012)","journal-title":"Robotics and Autonomous Systems"},{"issue":"2","key":"1554_CR34","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/TRO.2013.2289018","volume":"30","author":"J Bohg","year":"2014","unstructured":"Bohg, J., Morales, A., Asfour, T., Kragic, D.: Data-Driven Grasp Synthesis - A Survey. IEEE Transactions on Robotics. 30(2), 289\u2013309 (2014)","journal-title":"IEEE Transactions on Robotics"},{"key":"1554_CR35","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1007\/s10846-017-0646-y","volume":"90","author":"D Chen","year":"2018","unstructured":"Chen, D., Dietrich, V., Liu, Z., et al.: A Probabilistic Framework for Uncertainty-Aware High-Accuracy Precision Grasping of Unknown Objects. Journal of Intelligent & Robotic Systems. 90, 19\u201343 (2018)","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"1554_CR36","volume-title":"Multi-Objective Optimization using Evolutionary Algorithms","author":"K Deb","year":"2001","unstructured":"Deb, K.: Multi-Objective Optimization using Evolutionary Algorithms. Wiley, New York (2001)"},{"key":"1554_CR37","unstructured":"N.Daoud, \u00ab Contribution \u00e0 la manipulation dextre et \u00e0 la synth\u00e8se de prise en vue de la commande de mains m\u00e9caniques \u00bb, PhD Thesis, Poitiers University, France, 2011."},{"issue":"3","key":"1554_CR38","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1016\/j.robot.2011.07.011","volume":"60","author":"N Daoud","year":"2012","unstructured":"Daoud, N., Gazeau, J.P., Zeghloul, S., Arsicault, M.: A real-time strategy for dexterous manipulation: Fingertips motion planning, force sensing and grasp stability. Robotics and Autonomous Systems. 60(3), 377\u2013386 (2012)","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"1554_CR39","doi-asserted-by":"publisher","first-page":"1205","DOI":"10.1109\/TASE.2018.2889813","volume":"16","author":"H Fischer","year":"2019","unstructured":"Fischer, H., Vulliez, M., Laguillaumie, P., Vulliez, P., Gazeau, J.P.: RTRobMultiAxisControl: A Framework for Real-Time Multiaxis and Multirobot Control. Transactions on Automation Science and Engineering. 16(3), 1205\u20131217 (2019)","journal-title":"Transactions on Automation Science and Engineering"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01554-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01554-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01554-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,16]],"date-time":"2024-09-16T18:58:55Z","timestamp":1726513135000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01554-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,22]]},"references-count":39,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,2]]}},"alternative-id":["1554"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01554-4","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1,22]]},"assertion":[{"value":"10 June 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 December 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 January 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest\/Competing interests"}},{"value":"Our control software is registered with APP. APP (Agence de Protection des Programmes) is a European organization for the protection of authors and publishers of digital creations. The Software \u201c\u00abRTRobMultiAxisControl\u00bb was registered in 2018 with the deposit number IDDN. FR.001.300012.000.S.P.2018.000.31235. A licence agreement can be discussed for research or industrial purpose. The software is discussed in [].","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Code availability"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":6,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"20"}}