Abstract

In recent decades, the design of anthropomorphic hands has been developed greatly improving both cosmesis and functionality. Experimentation, simulation, and combined approaches have been used in the literature to assess the effect of design alternatives (DAs) on the final performance of artificial hands. However, establishing standard benchmarks for grasping and manipulation is a need recognized among the robotics community. Experimental approaches are costly, time consuming, and inconvenient in early design stages. Alternatively, computer simulation with the adaptation of metrics based on experimental benchmarks for anthropomorphic hands could be useful to evaluate and rank DAs. The aim of this study is to compare the anthropomorphism of the grasps performed with 28 DAs of the IMMA hand, developed by the authors, using either (i) the brute-force approach and grasp quality metrics proposed in previous works or (ii) a new simulation benchmark approach. The new methodology involves the generation of efficient grasp hypotheses and the definition of a new metric to assess stability and human likeness for the most frequently used grasp types in activities of daily living, pulp pinch and cylindrical grip, adapting the experimental Anthropomorphic Hand Assessment Protocol to the simulation environment. This new simulation benchmark, in contrast to the other approach, resulted in anthropomorphic and more realistic grasps for the expected use of the objects. Despite the inherent limitations of a simulation analysis, the benchmark proposed provides interesting results for selecting optimal DAs in order to perform stable and anthropomorphic grasps.

中文翻译：

---

通过抓握模拟对拟人手进行基准测试

摘要

近几十年来，拟人化手的设计得到了极大的改进，既美观又实用。文献中使用了实验、模拟和组合方法来评估设计替代方案 (DA) 对仿真手最终性能的影响。然而，为抓取和操作建立标准基准是机器人界公认的需求。实验方法在早期设计阶段成本高、耗时且不方便。或者，基于拟人手的实验基准调整指标的计算机模拟可能有助于评估和排名 DA。本研究的目的是比较作者开发的 IMMA 手的 28 个 DA 所进行的抓握的拟人化，使用（i）蛮力方法并掌握以前工作中提出的质量指标或（ii）新的模拟基准方法。新方法涉及生成有效的抓握假设和新指标的定义，以评估日常生活活动中最常用的抓握类型的稳定性和人类相似性，牙髓捏和圆柱形抓握，使实验拟人手评估协议适应仿真环境。与其他方法相比，这种新的模拟基准可以对物体的预期用途进行拟人化和更逼真的把握。尽管模拟分析存在固有局限性，但提出的基准为选择最佳 DA 以执行稳定和拟人化的抓取提供了有趣的结果。