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Fig. 2 Simulation results from the design space search. Each shaded square represents a unique hand design. Each hand topology is represented graphically, with arrows drawn to indicate revolute and prismatic joints. Design space plots show how manipulability varies with parameters p (palm width), ϕ (fixed prismatic joint angle), and d (distal link length) for 14 kinematic topologies. ( A) The RR topology is shown next to the manipulability scale ( H from Eq. 10), which goes from 0 (cannot manipulate in all directions) to 1 (best manipulability for all objects). ( B) The manipulability design space for the RR topology, calculated from the convex hulls of gradient vectors (left). Red indicates standard manipulability (calculated from

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