A Metric for Comparing the Anthropomorphic Motion Capability of Artificial Hands
2013 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, Vol. 29, no 1, 82-93 p.Article in journal (Refereed) Published
We propose a metric for comparing the anthropomorphic motion capability of robotic and prosthetic hands. The metric is based on the evaluation of how many different postures or configurations a hand can perform by studying the reachable set of fingertip poses. To define a benchmark for comparison, we first generate data with human subjects based on an extensive grasp taxonomy. We then develop a methodology for comparison using generative, nonlinear dimensionality reduction techniques. We assess the performance of different hands with respect to the human hand and with respect to each other. The method can be used to compare other types of kinematic structures.
Place, publisher, year, edition, pages
2013. Vol. 29, no 1, 82-93 p.
Biologically inspired robots, grasping, kinematics, multifingered hands, rehabilitation robotics
IdentifiersURN: urn:nbn:se:kth:diva-119111DOI: 10.1109/TRO.2012.2217675ISI: 000314837100007ScopusID: 2-s2.0-84873413988OAI: oai:DiVA.org:kth-119111DiVA: diva2:610482
QC 201303112013-03-112013-03-072013-03-11Bibliographically approved