TY - GEN
T1 - Quantifying anthropomorphism of robot hands
AU - Liarokapis, Minas V.
AU - Artemiadis, Panagiotis K.
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - In this paper a comparative analysis between the human and three robotic hands is conducted. A series of metrics are introduced to quantify anthropomorphism and assess robot's ability to mimic the human hand. In order to quantify anthropomorphism we choose to compare human and robot hands in two different levels: comparing finger phalanges workspaces and comparing workspaces of the fingers base frames. The final score of anthropomorphism uses a set of weighting factors that can be adjusted according to the specifications of each study, providing always a normalized score between 0 (non-anthropomorphic) and 1 (human-identical). The proposed methodology can be used in order to grade the human-likeness of existing and new robotic hands, as well as to provide specifications for the design of the next generation of anthropomorphic hands. Those hands can be used for human robot interaction applications, humanoids or even prostheses.
AB - In this paper a comparative analysis between the human and three robotic hands is conducted. A series of metrics are introduced to quantify anthropomorphism and assess robot's ability to mimic the human hand. In order to quantify anthropomorphism we choose to compare human and robot hands in two different levels: comparing finger phalanges workspaces and comparing workspaces of the fingers base frames. The final score of anthropomorphism uses a set of weighting factors that can be adjusted according to the specifications of each study, providing always a normalized score between 0 (non-anthropomorphic) and 1 (human-identical). The proposed methodology can be used in order to grade the human-likeness of existing and new robotic hands, as well as to provide specifications for the design of the next generation of anthropomorphic hands. Those hands can be used for human robot interaction applications, humanoids or even prostheses.
KW - Anthropomorphism
KW - Kinematics
KW - Robot Hands
KW - Workspace Analysis
UR - http://www.scopus.com/inward/record.url?scp=84887271048&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887271048&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630850
DO - 10.1109/ICRA.2013.6630850
M3 - Conference contribution
AN - SCOPUS:84887271048
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2041
EP - 2046
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -