We propose a new concept called “friction sensitivity,” which measures how susceptible a specific grasp is to changes in the underlying friction coefficients. We develop algorithms for synthesizing stable grasps with low friction sensitivity, as well as for synthesizing stable grasps in the case of small friction coefficients. We describe how grasps with low friction sensitivity can be used when a robot has an uncertain belief about friction coefficients, and study the statistics of grasp quality under changes in those coefficients. Additionally, we provide a parametric estimate for the distribution of grasp qualities and friction sensitivities for a uniformly sampled set of grasps.