A Metric for Comparing the Anthropomorphic Motion Capability of Artificial Hands

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, w...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2013-02, Vol.29 (1), p.82-93
Main Authors: Feix, T., Romero, J., Ek, C. H., Schmiedmayer, H. B., Kragic, D.
Format: Article
Language:English
Subjects:
Biologically inspired robots
Comparative analysis
grasping
Hands
Human subjects
Humans
Joints
Kinematics
Manifolds
Measurement
multifingered hands
Performance evaluation
Prostheses
rehabilitation robotics
Robotics
Robots
Vectors
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1552-3098
1941-0468
1941-0468
DOI:10.1109/TRO.2012.2217675