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[2018-Vol.15-Issue 1]A Synthetic Framework for Evaluating and Designing an Anthropomorphic Prosthetic Hand
发布时间： 2018-03-15 13:56  点击：2086
Journal of Bionic Engineering
 
Volume 15, Issue 1, October 2018, Pages  69-82.
 
Li Jiang, Yuan Liu, Dapeng Yang*, Hong Liu
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
 
Abstract  The mimic of aesthetics, function, and rehabilitation application makes the prosthetic hand design an interdisciplinary, synthetic work. Prosthetic hands should be designed in a comprehensive consideration with a synthetic framework from multiple areas. In this case, a synthetic framework containing 12 anthropomorphism indexes is established and utilized to understand the human hand characteristic and quantifiably evaluate the anthropomorphism of a prosthetic hand. Our quantified evaluation results show that a Global Anthropomorphic Score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling speed ratio and configuration of the Degrees Of Freedom (DOF) are found to be the lowest three anthropomorphism evaluation indexes in all 12 indexes. In addition, a design priority is proposed based on the quantified evaluation results and contributes to a prosthetic hand design. Moreover, our correlation analysis results between each index and GAS show that, compared with the conventional evaluation index-grasp gesture, the rotation axis distribution index has a stronger distinguishing capability to the hand performance. Finally, a flowchart of prosthetic hand design was presented for a designer to design a prosthetic hand with a high anthropomorphism.

Key words：anthropomorphism      quantified evaluation      bionic design      mechanical   implementation    rehabilitation 

Full text is available at   http://jbe.jlu.edu.cn/EN/Y2018/V15/I1/69

 

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