# Third-party Evaluation of Robotic Hand Designs Using a Mechanical Glove

arXiv: https://arxiv.org/abs/2109.10501 · HTML: https://mlsanity.com/paper/2109.10501/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Sep 2021.

## Built on by (most cited first, 1 of 1)

- [Training Robots without Robots: Deep Imitation Learning for Master-to-Robot Policy Transfer](https://mlsanity.com/paper/2202.09574/) (2022)

## Abstract (arXiv)

A robotic hand design suitable for dexterity should be examined using functional tests. To achieve this, we designed a mechanical glove, which is a rigid wearable glove that enables us to develop the corresponding isomorphic robotic hand and evaluate its hardware properties. Subsequently, the effectiveness of multiple degrees-of-freedom (DOFs) was evaluated by human participants. Several fine motor skills were evaluated using the mechanical glove under two conditions: one- and three-DOF conditions. To the best of our knowledge, this is the first extensive evaluation method for robotic hand designs suitable for dexterity. (This paper was peer-reviewed and is the full translation from the Journal of the Robotics Society of Japan, Vol.39, No.6, pp.557-560, 2021.)