# Robotic Hand Kinematic Analysis on 16 Robotic Hands Source: [Robotic Hand Kinematic Analysis on 16 Robotic Hands]() Collection index: [llms.txt]() Data updated: 2026-05-18T07:37:55.756Z Evaluation of robotic hand kinematics using metrics such as KaRMA, Yoshikawa, and Graded Conformity Index (GCI) on the 16 Robotic Hands dataset. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Robotic Hand Kinematic Analysis | | Dataset (including any stated split) | 16 Robotic Hands | | Metric | Thumb WS Index | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 16 of 16 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Thumb WS Index](): Higher is better; unit: SCALAR. - [Opposability Index](): Higher is better; unit: SCALAR. - [Yoshikawa Index (Combined)](): Lower is better; unit: SCALAR. - [GCI (Combined)](): Higher is better; unit: SCALAR. - [KaRMA (Translational)](): Higher is better; unit: SCALAR. - [KaRMA (Rotational)](): Higher is better; unit: SCALAR. - [KaRMA (Static)](): Higher is better; unit: SCALAR. ## Recorded results | Method | Thumb WS Index | Result date | Report paper | | --- | --- | --- | --- | | LEAP | 0.683 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Dex5 | 0.354 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | xHand1 | 0.349 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | D’Claw | 0.315 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Dex3† | 0.308 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Sharpa | 0.283 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | OrcaHand | 0.259 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Allegro | 0.221 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Wuji | 0.21 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Shadow | 0.178 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | DLR | 0.176 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | ARMS | 0.106 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | xHandLite† | 0.094 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Ability† | 0.089 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | Inspire† | 0.041 | Not recorded | 6a0a9d1cdbc836b87d82b466 | | SVH† | 0.036 | Not recorded | 6a0a9d1cdbc836b87d82b466 | ### LEAP Thumb WS Index: 0.683. Result ID: 6a0ac10f47f34ce924f0884c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"DOF":"8","L\_ref (mm)":"249.4","Tot. Range (rad)":"21.11"}. This record does not assert independent reproduction. ### Dex5 Thumb WS Index: 0.354. Result ID: 6a0ac10f47f34ce924f08854. [Reporting paper]() Recorded evaluation configuration: {"DOF":"8","L\_ref (mm)":"185.9","Tot. Range (rad)":"11.91"}. This record does not assert independent reproduction. ### xHand1 Thumb WS Index: 0.349. Result ID: 6a0ac10f47f34ce924f08856. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"DOF":"6","L\_ref (mm)":"190.8","Tot. Range (rad)":"9.86"}. This record does not assert independent reproduction. ### D’Claw Thumb WS Index: 0.315. Result ID: 6a0ac10f47f34ce924f0884e. [Reporting paper]() Recorded evaluation configuration: {"DOF":"6","L\_ref (mm)":"327.2","Tot. Range (rad)":"16.25"}. This record does not assert independent reproduction. ### Dex3† Thumb WS Index: 0.308. Result ID: 6a0ac10f47f34ce924f08855. [Reporting paper]() Recorded evaluation configuration: {"DOF":"5","L\_ref (mm)":"155.3","Tot. Range (rad)":"8.80"}. This record does not assert independent reproduction. ### Sharpa Thumb WS Index: 0.283. Result ID: 6a0ac10f47f34ce924f0884f. [Reporting paper]() Recorded evaluation configuration: {"DOF":"9","L\_ref (mm)":"188.3","Tot. Range (rad)":"12.74"}. This record does not assert independent reproduction. ### OrcaHand Thumb WS Index: 0.259. Result ID: 6a0ac10f47f34ce924f08857. [Reporting paper]() Recorded evaluation configuration: {"DOF":"7","L\_ref (mm)":"168.9","Tot. Range (rad)":"12.69"}. This record does not assert independent reproduction. ### Allegro Thumb WS Index: 0.221. Result ID: 6a0ac10f47f34ce924f0884d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"DOF":"8","L\_ref (mm)":"222.5","Tot. Range (rad)":"12.59"}. This record does not assert independent reproduction. ### Wuji Thumb WS Index: 0.21. Result ID: 6a0ac10f47f34ce924f08850. [Reporting paper]() Recorded evaluation configuration: {"DOF":"8","L\_ref (mm)":"176.6","Tot. Range (rad)":"13.21"}. This record does not assert independent reproduction. ### Shadow Thumb WS Index: 0.178. Result ID: 6a0ac10f47f34ce924f08851. [Reporting paper]() Recorded evaluation configuration: {"DOF":"9","L\_ref (mm)":"184.8","Tot. Range (rad)":"12.64"}. This record does not assert independent reproduction. ### DLR Thumb WS Index: 0.176. Result ID: 6a0ac10f47f34ce924f08853. [Reporting paper]() Recorded evaluation configuration: {"DOF":"9","L\_ref (mm)":"204.5","Tot. Range (rad)":"14.15"}. This record does not assert independent reproduction. ### ARMS Thumb WS Index: 0.106. Result ID: 6a0ac10f47f34ce924f08852. [Reporting paper]() Recorded evaluation configuration: {"DOF":"8","L\_ref (mm)":"171.3","Tot. Range (rad)":"11.17"}. This record does not assert independent reproduction. ### xHandLite† Thumb WS Index: 0.094. Result ID: 6a0ac10f47f34ce924f08858. [Reporting paper]() Recorded evaluation configuration: {"DOF":"5","L\_ref (mm)":"170.0","Tot. Range (rad)":"7.61"}. This record does not assert independent reproduction. ### Ability† Thumb WS Index: 0.089. Result ID: 6a0ac10f47f34ce924f0885b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"DOF":"3","L\_ref (mm)":"158.9","Tot. Range (rad)":"6.28"}. This record does not assert independent reproduction. ### Inspire† Thumb WS Index: 0.041. Result ID: 6a0ac10f47f34ce924f0885a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"DOF":"3","L\_ref (mm)":"155.4","Tot. Range (rad)":"3.60"}. This record does not assert independent reproduction. ### SVH† Thumb WS Index: 0.036. Result ID: 6a0ac10f47f34ce924f08859. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"DOF":"4","L\_ref (mm)":"182.9","Tot. Range (rad)":"4.09"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.