Grasping experimnets 

The results of the experiment are shown in above. The graph displays a grasping test with bars representing different configurations. The overall success rate is near 80%, thanks to the hand's re-configurable capability, allowing various configurations to leverage their unique strengths. Smaller objects like the pizza model and small bottles posed challenges due to their dimensions. As the previous analysis of the workspace shows, the hand struggles with objects too small (under 10mm radius) or too large (over 125mm radius).

Configuration 1 excels with smaller objects but lags behind when compared to others. Configuration 2 demonstrates the best overall performance, consistently performing well with large and medium-sized objects. In contrast, configuration 3 excels particularly in grasping larger, elongated objects. In conclusion, the hand's morphological differences enhance its grasping capabilities. This adaptability is vital for real-world scenarios where diverse objects demand varied manipulation. However, there are still limitations with very small or thin items.