Benchmarking anthropomorphic hands through grasping simulations
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Benchmarking anthropomorphic hands through grasping simulationsData de publicació
2022-02-25Editor
Oxford University PressISSN
2288-5048Cita bibliogràfica
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/qwac002Tipus de document
info:eu-repo/semantics/articleVersió
info:eu-repo/semantics/publishedVersionParaules clau / Matèries
Resum
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. [-]
Publicat a
Journal of Computational Design and Engineering, 2022, 9(2), 330–342Entitat finançadora
Ministerio de Economía y Competitividad (Spain) | Universitat Jaume I | Generalitat Valenciana
Codi del projecte o subvenció
BES-2015–076005 | DPI2014-60635-R | DPI2017-89910-R | UJI-B2017-70 | GV/2018/125 | PID2020-118021RB-100 | MICIN/AEI/10.13039/501100011033
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info:eu-repo/semantics/openAccess
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