提出新指标KaRMA，量化机械手捏持时的精细操作能力。
KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands
- 基于滚动运动建模，评估手指对球体的移动与翻转可达性。
- 在16种机械手上测试，揭示静态指标忽略的转动与移动权衡。
- 适合研究灵巧手设计或评估机器人操作性能的研究者。
传统机械手评价指标侧重工作空间、可操作性和抓握稳定性等静态特性，但未直接衡量机器人操作中的精细操作能力——即在保持接触的前提下持续改变物体姿态的能力。本文提出纯运动学指标KaRMA，用于评估双指精密捏持下球形测试物的内部移动与旋转可达性。该指标考虑关节限位、碰撞约束、滚动接触及对称受力可行性，通过广度优先搜索遍历平移与旋转基元，输出三项得分：平移覆盖度（KaRMA-T）、旋转覆盖度（KaRMA-R）和初始抓握敏感度（KaRMA-S）。我们在16种常用机械手上验证了KaRMA，结果表明其能区分在静态基准下表现相同的机械手，揭示现有指标无法捕捉的平移-旋转权衡，并与部分已发表任务基准一致，而雅可比类指标在此时常误导。
原文摘要 · Abstract (English)
Traditional robotic hand metrics focus on static properties such as workspace, manipulability, and grasp stability. However, these metrics do not directly measure dexterity under the standard definition in robotic manipulation: the ability to continuously change an object's pose within the hand while maintaining contact from an initial grasp. We introduce Kinematic Rolling Manipulation Ability (KaRMA), a kinematic-only metric for fine manipulation that quantifies reachable in-hand translation and reorientation of a spherical test object within a two-finger precision pinch through feasible rolling motions. KaRMA enforces joint limits, collision constraints, rolling contact, and antipodal force feasibility, then investigates reachable in-hand object poses via breadth-first search over translation and rotation primitives. KaRMA reports three scores: translational coverage (KaRMA-T), rotational coverage (KaRMA-R), and sensitivity to the initial grasp (KaRMA-S). We evaluate KaRMA on 16 widely used robotic hands and compare against static baselines, showing that KaRMA separates hands that rank identically under static proxies, reveals translation-rotation tradeoffs invisible to existing baselines, and is qualitatively consistent with selected published task benchmarks where Jacobian-based metrics can be misleading.
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