  The variety of robotic hand designs and actuation schemes makes it difficult
to measure a hand's graspable volume. For end-users, this lack of standardized
measurements makes it challenging to determine a priori if a robot hand is the
right size for grasping an object. We propose a practical hand measurement
standard, based on precision and power grasps, that is applicable to a wide
variety of robot hand designs. The resulting measurements can be used to both
determine if an object will fit in the hand and characterize the size of an
object with respect to the hand. Our measurement procedure uses a functional
approach, based on grasping a hypothetical cylinder, that allows the measurer
choose the exact hand orientation and finger configurations that are used for
the measurements. This ensures that the measurements are functionally
comparable while relying on the human to determine the finger configurations
that best match the intended grasp. We demonstrate using our measurement
standard with three commercial robot hand designs and objects from the YCB data
set.
