Anthropomorphism Index of Mobility for Artificial Hands
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 han...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2019/7169034 |
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| author | Immaculada Llop-Harillo Antonio Pérez-González Verónica Gracia-Ibáñez |
| author_facet | Immaculada Llop-Harillo Antonio Pérez-González Verónica Gracia-Ibáñez |
| author_sort | Immaculada Llop-Harillo |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f80b25fe616b44af8fdd0a3de8680e22 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-f80b25fe616b44af8fdd0a3de8680e222025-02-03T05:47:52ZengWileyApplied Bionics and Biomechanics1176-23221754-21032019-01-01201910.1155/2019/71690347169034Anthropomorphism Index of Mobility for Artificial HandsImmaculada Llop-Harillo0Antonio Pérez-González1Verónica Gracia-Ibáñez2Grupo de Biomecánica y Ergonomía, Departamento de Ingeniería Mecánica y Construcción, Universitat Jaume I (UJI), 12071, SpainGrupo de Biomecánica y Ergonomía, Departamento de Ingeniería Mecánica y Construcción, Universitat Jaume I (UJI), 12071, SpainGrupo de Biomecánica y Ergonomía, Departamento de Ingeniería Mecánica y Construcción, Universitat Jaume I (UJI), 12071, SpainThe 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.http://dx.doi.org/10.1155/2019/7169034 |
| spellingShingle | Immaculada Llop-Harillo Antonio Pérez-González Verónica Gracia-Ibáñez Anthropomorphism Index of Mobility for Artificial Hands Applied Bionics and Biomechanics |
| title | Anthropomorphism Index of Mobility for Artificial Hands |
| title_full | Anthropomorphism Index of Mobility for Artificial Hands |
| title_fullStr | Anthropomorphism Index of Mobility for Artificial Hands |
| title_full_unstemmed | Anthropomorphism Index of Mobility for Artificial Hands |
| title_short | Anthropomorphism Index of Mobility for Artificial Hands |
| title_sort | anthropomorphism index of mobility for artificial hands |
| url | http://dx.doi.org/10.1155/2019/7169034 |
| work_keys_str_mv | AT immaculadallopharillo anthropomorphismindexofmobilityforartificialhands AT antonioperezgonzalez anthropomorphismindexofmobilityforartificialhands AT veronicagraciaibanez anthropomorphismindexofmobilityforartificialhands |