Quantifying anthropomorphism of robot arms

Christoforos I. Mavrogiannis, Minas V. Liarokapis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper we introduce an index for the quantification of anthropomorphism of robot arms. The index is defined as a weighted sum of specific metrics which evaluate the similarities between the human and robot arm workspaces, providing a normalized score between 0 (non-anthropomorphic artifacts) and 1 (human-identical artifacts). The human arm workspaces were extracted using data reported in anthropometry studies. The formulation is general enough to allow utilization in various applications, by adjusting the weighting factors according to the specifications of each study. The proposed methodology can be used for assessing the human-likeness of existing robot arms as well as to provide specifications for the design of new anthropomorphic robots and prosthetic devices. To assess the efficiency of the proposed methods a comparative analysis between five kinematically different robot arm models is conducted and simulated paradigms are presented.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479999941
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015


  • Anthropomorphism
  • Human Robot Interaction
  • Robot Arms Design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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