Benchmarking anthropomorphic hands through grasping simulations
Ver/ Abrir
Impacto
Scholar |
Otros documentos de la autoría: Llop-Harillo, Immaculada; Iserte, José Luis; Pérez-González, Antonio
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACIONMetadatos
Título
Benchmarking anthropomorphic hands through grasping simulationsFecha de publicación
2022-02-25Editor
Oxford University PressISSN
2288-5048Cita bibliográfica
Immaculada Llop-Harillo, José L Iserte, Antonio Pérez-González, Benchmarking anthropomorphic hands through grasping simulations, Journal of Computational Design and Engineering, Volume 9, Issue 2, April 2022, Pages 330–342, https://doi.org/10.1093/jcde/qwac002Tipo de documento
info:eu-repo/semantics/articleVersión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
In recent decades, the design of anthropomorphic hands has been developed greatly improving both cosmesis and
functionality. Experimentation, simulation, and combined approaches have been used in the literature to ... [+]
In recent decades, the design of anthropomorphic hands has been developed greatly improving both cosmesis and
functionality. Experimentation, simulation, and combined approaches have been used in the literature to assess the effect
of design alternatives (DAs) on the final performance of artificial hands. However, establishing standard benchmarks for
grasping and manipulation is a need recognized among the robotics community. Experimental approaches are costly, time
consuming, and inconvenient in early design stages. Alternatively, computer simulation with the adaptation of metrics
based on experimental benchmarks for anthropomorphic hands could be useful to evaluate and rank DAs. The aim of this
study is to compare the anthropomorphism of the grasps performed with 28 DAs of the IMMA hand, developed by the
authors, using either (i) the brute-force approach and grasp quality metrics proposed in previous works or (ii) a new
simulation benchmark approach. The new methodology involves the generation of efficient grasp hypotheses and the
definition of a new metric to assess stability and human likeness for the most frequently used grasp types in activities of
daily living, pulp pinch and cylindrical grip, adapting the experimental Anthropomorphic Hand Assessment Protocol to the
simulation environment. This new simulation benchmark, in contrast to the other approach, resulted in anthropomorphic
and more realistic grasps for the expected use of the objects. Despite the inherent limitations of a simulation analysis, the
benchmark proposed provides interesting results for selecting optimal DAs in order to perform stable and anthropomorphic
grasps. [-]
Publicado en
Journal of Computational Design and Engineering, 2022, 9(2), 330–342Entidad financiadora
Ministerio de Economía y Competitividad (Spain) | Universitat Jaume I | Generalitat Valenciana
Código del proyecto o subvención
BES-2015–076005 | DPI2014-60635-R | DPI2017-89910-R | UJI-B2017-70 | GV/2018/125 | PID2020-118021RB-100 | MICIN/AEI/10.13039/501100011033
Derechos de acceso
info:eu-repo/semantics/openAccess
Aparece en las colecciones
- EMC_Articles [813]
Excepto si se señala otra cosa, la licencia del ítem se describe como: ©The Author(s) 2022. Published by Oxford University Press on behalf of the Society for Computational Design and Engineering. This is an Open Access
article distributed under the terms of the Creative Commons Attribution-NonCommercial License (https://creativecommons.org/licenses/by-nc/4.0/),
which permits non-commercial re-use, distribution, and reproduction in any medium, provided the original work is properly cited. For commercial
re-use, please contact journals.permissions@oup.com