The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.

中文翻译：

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掌握质量指标：审查和绩效。

正确掌握对象是正确完成给定任务的关键方面。要获得良好的抓地力，需要算法来自动确定对象上的正确接触点以及正确的手形，尤其是在需要进行灵巧操作时，而良好抓地力的量化则需要定义合适的抓地力质量度量。本文回顾了文献中提出的评估抓握质量的质量措施。质量评估根据评估的主要方面分为两类：物体上接触点的位置和手的配置。还回顾了结合前两个组的不同度量以获得整体质量度量的方法，以及与人类手部学习和掌握表现有关的一些度量。