Anthropomorphic hands have received increasing research interest in the fields of robotics and prosthetics. But it is not yet clear how to evaluate their anthropomorphism. Similarity in the kinematic chain is essential to achieve both functionality and cosmesis. A few previous works have addressed the definition of anthropomorphism indexes, although they have some limitations in its definition. In this study, three different anthropomorphism indexes have been defined to compare the kinematic chain of artificial hands with that of the human hand. These indexes are based on the comparison of: (1) the parameters of the kinematic chain (dimensions, type of joints, orientations and ranges of motion), (2) the reachable workspace, and (3) common grasping postures. Five artificial hands with different degrees of anthropomorphism have been compared using the three Anthropomorphism Indexes of the Kinematic Chain (AIKC). The results show a high correlation between the first and third AIKC for the hands compared. The second AIKC presents much lower values than the other two, although they are higher for hands that combine abduction/adduction and flexion/extension movements in the kinematic chain of each finger. These indexes can be useful during the initial stage of designing artificial hands or evaluating their anthropomorphism.

中文翻译：

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人工手运动链的拟人化指标

拟人化的手已在机器人技术和假肢学领域获得了越来越多的研究兴趣。但是尚不清楚如何评估它们的拟人性。运动链中的相似性对于实现功能性和美观性至关重要。尽管它们在定义上有一些局限性，但先前的一些工作已经解决了拟人化指标的定义。在这项研究中，定义了三种不同的拟人化指标来比较人工手和人手的运动链。这些指标基于以下比较：（1）运动链的参数（尺寸，关节类型，方向和运动范围），（2）可以到达的工作空间以及（3）常见的抓握姿势。使用运动链的三个拟人化指数（AIKC），比较了五种具有不同拟人化程度的人工手。结果表明，比较第一只手和第三只手的AIKC之间的高度相关性。第二个AIKC呈现出比其他两个更低的值，尽管对于结合了每个手指运动链中的外展/内展和屈曲/伸展运动的手来说，它们的值更高。这些索引在设计人工手或评估其拟人性的初始阶段可能会很有用。虽然对于结合了每个手指运动链中的外展/内展和屈曲/伸展运动的手，它们的手性更高。这些索引在设计人工手或评估其拟人性的初始阶段可能会很有用。虽然对于结合了每个手指运动链中的外展/内展和屈曲/伸展运动的手，它们的手性更高。这些索引在设计人工手或评估其拟人性的初始阶段可能会很有用。