{"id":"https://openalex.org/W2001460569","doi":"https://doi.org/10.1109/icra.2014.6907393","title":"Characterization of grasp quality measures for evaluating robotic hands prehension","display_name":"Characterization of grasp quality measures for evaluating robotic hands prehension","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2001460569","doi":"https://doi.org/10.1109/icra.2014.6907393","mag":"2001460569"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/ICRA.2014.6907393","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009797597","display_name":"Beatriz Le\u00f3n","orcid":"https://orcid.org/0000-0002-0831-9003"},"institutions":[{"id":"https://openalex.org/I141584323","display_name":"University of Hertfordshire","ror":"https://ror.org/0267vjk41","country_code":"GB","type":"education","lineage":["https://openalex.org/I141584323"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Beatriz Leon","raw_affiliation_strings":["Adaptive Systems Research Group at the School of Computer Science, University of Hertfordshire, Hatfield, Hertfordshire AL10 9AB, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Systems Research Group at the School of Computer Science, University of Hertfordshire, Hatfield, Hertfordshire AL10 9AB, UK","institution_ids":["https://openalex.org/I141584323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006788869","display_name":"Carlos Rubert","orcid":"https://orcid.org/0000-0002-8754-366X"},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Rubert","raw_affiliation_strings":["Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#","institution_ids":["https://openalex.org/I10902133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087220859","display_name":"Joaqu\u00edn L. Sancho-Bru","orcid":"https://orcid.org/0000-0001-8486-5113"},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Joaquin Sancho-Bru","raw_affiliation_strings":["Group of Biomechanics and Ergonomics at the Department of Mechanical Engineering and Construction, Universitat Jaume I, 12006 Castell\u00f3n, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group of Biomechanics and Ergonomics at the Department of Mechanical Engineering and Construction, Universitat Jaume I, 12006 Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021954445","display_name":"Antonio Morales","orcid":"https://orcid.org/0000-0002-8478-0854"},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Morales","raw_affiliation_strings":["Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#","institution_ids":["https://openalex.org/I10902133"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2616,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.91753533,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"3688","last_page":"3693"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8918053507804871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7575551867485046},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6960543394088745},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.6464408040046692},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6133933067321777},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4946291148662567},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.45686647295951843},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.44741007685661316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3611398935317993},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12072351574897766},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.06737041473388672}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8918053507804871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7575551867485046},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6960543394088745},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.6464408040046692},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6133933067321777},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4946291148662567},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.45686647295951843},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.44741007685661316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3611398935317993},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12072351574897766},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.06737041473388672},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6907393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:10250544","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ICRA.2014.6907393","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:10250544","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ICRA.2014.6907393","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W564593119","https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1925324831","https://openalex.org/W1964523947","https://openalex.org/W1980602022","https://openalex.org/W1990018955","https://openalex.org/W2049617391","https://openalex.org/W2060467095","https://openalex.org/W2085545845","https://openalex.org/W2088043683","https://openalex.org/W2093801937","https://openalex.org/W2116817751","https://openalex.org/W2119332045","https://openalex.org/W2156186728","https://openalex.org/W2163296013","https://openalex.org/W2167584186","https://openalex.org/W2167788274","https://openalex.org/W3088063282","https://openalex.org/W6662946448","https://openalex.org/W6684397766"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W4390800284"],"abstract_inverted_index":{"Many":[0],"analytical":[1],"metrics":[2,74],"have":[3],"been":[4],"proposed":[5,82],"to":[6,32,61,88],"evaluate":[7],"the":[8,65,70,94,106],"quality":[9,41,98],"of":[10,22,46,72,96,105,124],"a":[11,59,117,121],"grasp":[12],"based":[13],"on":[14],"different":[15],"criteria":[16],"and":[17,36,63,78],"principles.":[18],"To":[19],"use":[20,71],"most":[21],"them":[23],"in":[24,44,75],"practical":[25,76,107],"real":[26],"applications,":[27,77],"some":[28],"operational":[29,66,108],"parameters":[30,67],"need":[31],"be":[33],"determined:":[34],"maximum":[35],"minimum":[37],"values,":[38],"normalization":[39],"ratios,":[40],"thresholds,":[42],"robustness":[43],"front":[45],"position":[47],"errors":[48],"and,":[49],"more":[50],"importantly,":[51],"relations":[52],"between":[53],"alternative":[54],"metrics.":[55,99],"This":[56,100],"paper":[57],"proposes":[58],"methodology":[60],"study":[62],"characterize":[64],"that":[68],"allow":[69],"several":[73,97],"comparing":[79],"them.":[80],"The":[81],"approach":[83],"uses":[84],"exhaustive":[85],"simulation":[86],"testing":[87],"obtains":[89],"statically":[90],"significant":[91],"results":[92],"regarding":[93],"measurements":[95],"allows":[101],"an":[102],"informed":[103],"setting":[104],"values":[109],"for":[110,116],"each":[111],"metric.":[112],"Results":[113],"are":[114],"provided":[115],"Barrett":[118],"hand":[119],"grasping":[120],"varied":[122],"set":[123],"objects.":[125]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}