Anthropomorphism Indexes of the Kinematic Chain for Artificial Hands

查看全文 作　　者：Immaculada Llop-[1]Harillo;Antonio Pérez-[1]González;Javier Andrés-[1]Esperanza

机构地区：[1]Grupo de Biomecdnicay Ergonomia,Departamento de Ingenieria Mecdnicay Construccidny Universitat Jaume I(UJI),Castelldn 12071,Spain

出　　处：《Journal of Bionic Engineering》索引2020年第17卷第3期,共11页

基　　金：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);Universitat Jaume I,Spain(Grant No.UJI-B2017-70). 摘　　要：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:(I)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. 关键词：ANTHROPOMORPHISM GRASPING indexes KINEMATICS multifingered hands

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Anthropomorphism Indexes of the Kinematic Chain for Artificial Hands

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