Abstract
Anthropomorphic hands have received increasing research interest in the fields of robotics and prosthetics. But it is not yet clear how to evaluate their anthropomorphism. Similarity in the kinematic chain is essential to achieve both functionality and cosmesis. A few previous works have addressed the definition of anthropomorphism indexes, although they have some limitations in its definition. In this study, three different anthropomorphism indexes have been defined to compare the kinematic chain of artificial hands with that of the human hand. These indexes are based on the comparison of: (1) the parameters of the kinematic chain (dimensions, type of joints, orientations and ranges of motion), (2) the reachable workspace, and (3) common grasping postures. Five artificial hands with different degrees of anthropomorphism have been compared using the three Anthropomorphism Indexes of the Kinematic Chain (AIKC). The results show a high correlation between the first and third AIKC for the hands compared. The second AIKC presents much lower values than the other two, although they are higher for hands that combine abduction/adduction and flexion/extension movements in the kinematic chain of each finger. These indexes can be useful during the initial stage of designing artificial hands or evaluating their anthropomorphism.
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28 November 2020
The article “Anthropomorphism Indexes of the Kinematic Chain for Artificial Hands, written by Immaculada Llop-Harillo, Antonio Pérez-González, Javier Andrés-Esperanza, was originally published electronically on the publisher’s internet portal (currently SpringerLink) on May 23rd 2020 without open access. With the author(s)’ decision to opt for Open Choice the copyright of the article changed in October 2020 to © The Author(s) 2020 and the article is forthwith distributed under the terms of the Creative Commons Attribution 4.0 International License (<ExternalRef><RefSource>http://creativecommons.org/licenses/by/4.0/</RefSource><RefTarget Address="http://creativecommons.org/licenses/by/4.0/" TargetType="URL"/></ExternalRef>), which permits use, duplication, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
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Acknowledgment
This work was supported by the Spanish Ministry of Economy and Competitiveness and ESF (Grant No. BES-2015-076005); the Spanish Ministry of Economy and Competitiveness, AEI and ERDF (Grant Nos. DPI2014-60635-R and DPI2017-89910-R); and Universitat Jaume I, Spain (Grant No. UJI-B2017-70).
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Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits use, duplication, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
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Llop-Harillo, I., Pérez-González, A. & Andrés-Esperanza, J. Anthropomorphism Indexes of the Kinematic Chain for Artificial Hands. J Bionic Eng 17, 501–511 (2020). https://doi.org/10.1007/s42235-020-0040-5
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DOI: https://doi.org/10.1007/s42235-020-0040-5