Mostrar el registro sencillo del ítem
Benchmarking anthropomorphic hands through grasping simulations
dc.contributor.author | Llop-Harillo, Immaculada | |
dc.contributor.author | Iserte, José Luis | |
dc.contributor.author | Pérez-González, Antonio | |
dc.date.accessioned | 2022-03-09T12:07:54Z | |
dc.date.available | 2022-03-09T12:07:54Z | |
dc.date.issued | 2022-02-25 | |
dc.identifier.citation | 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/qwac002 | ca_CA |
dc.identifier.issn | 2288-5048 | |
dc.identifier.uri | http://hdl.handle.net/10234/196976 | |
dc.description.abstract | 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. | ca_CA |
dc.format.extent | 13 p. | ca_CA |
dc.format.mimetype | application/pdf | ca_CA |
dc.language.iso | eng | ca_CA |
dc.publisher | Oxford University Press | ca_CA |
dc.relation.isPartOf | Journal of Computational Design and Engineering, 2022, 9(2), 330–342 | ca_CA |
dc.rights | ©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 | ca_CA |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | ca_CA |
dc.subject | artificial hand anthropomorphism | ca_CA |
dc.subject | benchmarking | ca_CA |
dc.subject | grasping simulation | ca_CA |
dc.subject | prosthetic hand design | ca_CA |
dc.title | Benchmarking anthropomorphic hands through grasping simulations | ca_CA |
dc.type | info:eu-repo/semantics/article | ca_CA |
dc.identifier.doi | https://doi.org/10.1093/jcde/qwac002 | |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | ca_CA |
dc.type.version | info:eu-repo/semantics/publishedVersion | ca_CA |
project.funder.name | Ministerio de Economía y Competitividad (Spain) | ca_CA |
project.funder.name | Universitat Jaume I | ca_CA |
project.funder.name | Generalitat Valenciana | ca_CA |
oaire.awardNumber | BES-2015–076005 | ca_CA |
oaire.awardNumber | DPI2014-60635-R | ca_CA |
oaire.awardNumber | DPI2017-89910-R | ca_CA |
oaire.awardNumber | UJI-B2017-70 | ca_CA |
oaire.awardNumber | GV/2018/125 | ca_CA |
oaire.awardNumber | PID2020-118021RB-100 | ca_CA |
oaire.awardNumber | MICIN/AEI/10.13039/501100011033 | ca_CA |
Ficheros en el ítem
Este ítem aparece en la(s) siguiente(s) colección(ones)
-
EMC_Articles [825]
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