Experiment Results

Metrics

The primary metric chosen for the experiments was the degree to which subjects could achieve an even distribution of grasping forces among the fingers. The metric is computed as fs = 3 Xi=1 abs(fi − fa) (1) where fa is the average force and, again, i = 1, 2, 3 for the index, middle and ring fingers, respectively. Subjects were asked to maintain an even force balance for 5 seconds after lifting the object and the value of fs was recorded continuously during this time. If the subject dropped the object or was unable to hold the object for 5 seconds, a failure event was noted.