Anthropomorphism Index of Mobility for Artificial Hands
View/ Open
Impact
Scholar |
Other documents of the author: Llop-Harillo, Immaculada; Pérez-González, Antonio; Gracia-Ibáñez, Verónica
Metadata
Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACIONMetadata
Title
Anthropomorphism Index of Mobility for Artificial HandsDate
2019-07-28Publisher
HindawiISSN
1176-2322; 1754-2103Bibliographic citation
LLOP-HARILLO, Immaculada; PÉREZ-GONZÁLEZ, Antonio; GRACIA-IBÁÑEZ, Verónica. Anthropomorphism Index of Mobility for Artificial Hands. Applied bionics and biomechanics, 2019, vol. 2019Type
info:eu-repo/semantics/articlePublisher version
https://www.hindawi.com/journals/abb/2019/7169034/Version
info:eu-repo/semantics/publishedVersionAbstract
The increasing development of anthropomorphic artificial hands makes necessary quick metrics that analyze their anthropomorphism. In this study, a human grasp experiment on the most important grasp types was undertaken ... [+]
The increasing development of anthropomorphic artificial hands makes necessary quick metrics that analyze their anthropomorphism. In this study, a human grasp experiment on the most important grasp types was undertaken in order to obtain an Anthropomorphism Index of Mobility (AIM) for artificial hands. The AIM evaluates the topology of the whole hand, joints and degrees of freedom (DoFs), and the possibility to control these DoFs independently. It uses a set of weighting factors, obtained from analysis of human grasping, depending on the relevance of the different groups of DoFs of the hand. The computation of the index is straightforward, making it a useful tool for analyzing new artificial hands in early stages of the design process and for grading human-likeness of existing artificial hands. Thirteen artificial hands, both prosthetic and robotic, were evaluated and compared using the AIM, highlighting the reasons behind their differences. The AIM was also compared with other indexes in the literature with more cumbersome computation, ranking equally different artificial hands. As the index was primarily proposed for prosthetic hands, normally used as nondominant hands in unilateral amputees, the grasp types selected for the human grasp experiment were the most relevant for the human nondominant hand to reinforce bimanual grasping in activities of daily living. However, it was shown that the effect of using the grasping information from the dominant hand is small, indicating that the index is also valid for evaluating the artificial hand as dominant and so being valid for bilateral amputees or robotic hands. [-]
Is part of
Applied bionics and biomechanics, 2019, vol. 2019Rights
info:eu-repo/semantics/openAccess
This item appears in the folowing collection(s)
- EMC_Articles [823]
The following license files are associated with this item: