# Grasp quality evaluation done right: How assumed contact force bounds affect Wrench-based quality metrics

> Research article (2017 IEEE International Conference on Robotics and Automation (ICRA), 2017) · cited 24× · AI/ML

**Wikidata**: [openalex:W2737979835](https://www.wikidata.org/wiki/openalex:W2737979835)  
**Source**: https://4ort.xyz/entity/grasp-quality-evaluation-done-right-how-assumed-contact-force-bounds-affect-wrench-based-quality-metrics