My paper, Finding Small, Versatile Sets of Human Grasps to Span Common Objects, was recently accepted for publication in the proceedings of ICRA 2013. It was written with Aaron Dollar and Thomas Feix.
A novel grasp span metric is used to assess the versatility of a small set of grasps in handling a wide range of objects. We used over 9000 grasps over 19 hours of video from four subjects to generate small sets of versatile grasps using this metric. The results for all subjects are below: