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Journal of Bionic Engineering

, Volume 15, Issue 1, pp 69–82 | Cite as

A synthetic framework for evaluating and designing an anthropomorphic prosthetic hand

  • Li Jiang
  • Yuan Liu
  • Dapeng Yang
  • Hong Liu
Article
  • 46 Downloads

Abstract

The mimic of aesthetics, function, and rehabilitation application makes the prosthetic hand design an interdisciplinary, synthetic work. Prosthetic hands should be designed in a comprehensive consideration with a synthetic framework from multiple areas. In this case, a synthetic framework containing 12 anthropomorphism indexes is established and utilized to understand the human hand characteristic and quantifiably evaluate the anthropomorphism of a prosthetic hand. Our quantified evaluation results show that a Global Anthropomorphic Score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling speed ratio and configuration of the Degrees Of Freedom (DOF) are found to be the lowest three anthropomorphism evaluation indexes in all 12 indexes. In addition, a design priority is proposed based on the quantified evaluation results and contributes to a prosthetic hand design. Moreover, our correlation analysis results between each index and GAS show that, compared with the conventional evaluation index-grasp gesture, the rotation axis distribution index has a stronger distinguishing capability to the hand performance. Finally, a flowchart of prosthetic hand design was presented for a designer to design a prosthetic hand with a high anthropomorphism.

Keywords

prosthetic hand anthropomorphism quantified evaluation bionic design mechanical implementation rehabilitation 

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Notes

Acknowledgement

This work was partly supported by the National Natural Science Foundation of China (No. 51675123), self-planned Task (No. SKLRS201603B) of State Key Laboratory of Robotics and Systems, and National Basic Research Program (973 Program) of China (No. 2011CB013306).

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Copyright information

© Jilin University 2018

Authors and Affiliations

  1. 1.State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinChina

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