4. Performance Evaluation of Robotic Hands

Based on the generation of reference motion sequences for the object in the hand, this section presents an approach aimed at evaluating the performance of a robotic hand, with a particular focus on its actual dexterity. In this section, we consider an example of a fully articulated hand with high dexterity potential that we wish to evaluate.

To illustrate this approach, we will use the example of the RoBioSS robotic hand, which has 16 joints and 16 actuators