There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a ma- nipulation task. In order to overcome it, this paper presents a proposal of grasp transfer quality measures to evaluate how easy or feasible is that an object grasped by one hand could be grasped by another hand to per- form a hand-to-hand transfer. Experiments were conducted to evaluate the proposed grasp transfer quality measures using different objects and the model of a real robotic hand

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