{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T12:48:11Z","timestamp":1753879691931,"version":"3.41.2"},"reference-count":16,"publisher":"ASME International","issue":"4","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2016,8,1]]},"abstract":"<jats:p>In this study, we analyze different actuation configurations for bionic hands in order to improve their level of anthropomorphism. We used a previously developed benchmark, the anthropomorphism index (AI), for 15 different actuation configurations of hands from one to five actuators. By comparing the AI of these configurations, we obtained important conclusions regarding the actuation strategy of the anthropomorphic hands with a limited number of actuators. Results show that the actuation configuration is very important for increasing the level of anthropomorphism of the hands. It is shown that with an appropriate actuation configuration, a configuration with lower number of actuators can result in a higher AI than a configuration with higher number of actuators. We also showed the best actuation configurations for each category of 1\u20135 actuators. Results can be used as a guideline for development of hands with high anthropomorphism in terms of grasping postures.<\/jats:p>","DOI":"10.1115\/1.4032405","type":"journal-article","created":{"date-parts":[[2015,12,31]],"date-time":"2015-12-31T18:53:42Z","timestamp":1451588022000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":8,"title":["Actuation Configurations of Bionic Hands for a Better Anthropomorphism Index"],"prefix":"10.1115","volume":"8","author":[{"given":"Mahmoud","family":"Tavakoli","sequence":"first","affiliation":[{"name":"Institute for Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal e-mail:"}]},{"given":"Baptiste","family":"Enes","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal"}]},{"given":"Lino","family":"Marques","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal"}]},{"given":"Thomas","family":"Feix","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Material Science, Yale University, New Haven, CT 06510 e-mail:"}]}],"member":"33","published-online":{"date-parts":[[2016,3,7]]},"reference":[{"key":"2019100617394689400_bib1","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1016\/j.robot.2015.08.011","article-title":"Underactuated Anthropomorphic Hands: Actuation Strategies for a Better Functionality","volume":"74","year":"2015","journal-title":"Rob. Auton. Syst."},{"key":"2019100617394689400_bib2","article-title":"Grade Your Hand Toolbox"},{"issue":"1","key":"2019100617394689400_bib3","doi-asserted-by":"publisher","first-page":"82","DOI":"10.1109\/TRO.2012.2217675","article-title":"A Metric for Comparing the Anthropomorphic Motion Capability of Artificial Hands","volume":"29","year":"2013","journal-title":"IEEE Trans. Rob."},{"author":"Otto Bock","key":"2019100617394689400_bib4","article-title":"Sensorhand Speed"},{"author":"Otto Bock","key":"2019100617394689400_bib5","article-title":"Michel Angelo Hand"},{"key":"2019100617394689400_bib6","doi-asserted-by":"crossref","unstructured":"Gaiser, I., Schulz, S., Kargov, A., Klosek, H., Bierbaum, A., Pylatiuk, C., Oberle, R., Werner, T., Asfour, T., Bretthauer, G., and Dillmann, R., 2008, \u201cA New Anthropomorphic Robotic Hand,\u201d 8th IEEE-RASInternational Conference on Humanoid Robots, Daejeon, Dec. 1\u20133, pp. 418\u2013422.10.1109\/ICHR.2008.4755987","DOI":"10.1109\/ICHR.2008.4755987"},{"key":"2019100617394689400_bib7","doi-asserted-by":"crossref","unstructured":"Fukaya, N., Toyama, S., Asfour, T., and Dillmann, R., 2000, \u201cDesign of the TUAT\/Karlsruhe Humanoid Hand,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Takamatsu, Japan, Vol. 3, pp. 1754\u20131759.10.1109\/IROS.2000.895225","DOI":"10.1109\/IROS.2000.895225"},{"key":"2019100617394689400_bib8","doi-asserted-by":"crossref","unstructured":"Chu, J.-U., Jung, D.-H., and Lee, Y.-J., 2008, \u201cDesign and Control of a Multifunction Myoelectric Hand With New Adaptive Grasping and Self-Locking Mechanisms,\u201d IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 19\u201323, pp. 743\u2013748.10.1109\/ROBOT.2008.4543294","DOI":"10.1109\/ROBOT.2008.4543294"},{"key":"2019100617394689400_bib9","doi-asserted-by":"crossref","unstructured":"Mitsui, K., Ozawa, R., and Kou, T., 2013, \u201cAn Under-Actuated Robotic Hand for Multiple Grasps,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Nov. 3\u20137, pp. 5475\u20135480.10.1109\/IROS.2013.6697149","DOI":"10.1109\/IROS.2013.6697149"},{"issue":"2","key":"2019100617394689400_bib10","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1023\/B:AURO.0000016862.38337.f1","article-title":"The Manus-Hand Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects","volume":"16","year":"2004","journal-title":"Auton. Rob."},{"issue":"6","key":"2019100617394689400_bib11","doi-asserted-by":"publisher","first-page":"919","DOI":"10.1017\/S0263574709990750","article-title":"Objectives, Criteria and Methods for the Design of the Smarthand Transradial Prosthesis","volume":"28","year":"2010","journal-title":"Robotica"},{"author":"RSLsteeper","key":"2019100617394689400_bib12","article-title":"Bebionic Hand"},{"author":"TouchBionics","key":"2019100617394689400_bib13","article-title":"iLimb Hand"},{"volume-title":"Meka H2 Compliant Hand Datasheet","year":"2009","author":"MekaBot","key":"2019100617394689400_bib14"},{"key":"2019100617394689400_bib15","doi-asserted-by":"crossref","unstructured":"Tavakoli, M., and de Almeida, A. T., 2014, \u201cAdaptive Under-Actuated Anthropomorphic Hand: ISR-Softhand,\u201d IEEE International Conference on Robotics and Automation (IROS), Chicago, IL, Sept. 14\u201318.10.1109\/IROS.2014.6942773","DOI":"10.1109\/IROS.2014.6942773"},{"key":"2019100617394689400_bib16","doi-asserted-by":"crossref","unstructured":"Tavakoli, M., Enes, B., Marques, L., and de Almeida, A. T., 2014, \u201cActuation Strategies for Underactuated Anthropomorphic Hands,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IRO), Chicago, IL, Sept. 14\u201318.10.1109\/IROS.2014.6942572","DOI":"10.1109\/IROS.2014.6942572"}],"container-title":["Journal of Mechanisms and Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/asmedigitalcollection.asme.org\/mechanismsrobotics\/article-pdf\/doi\/10.1115\/1.4032405\/6255267\/jmr_008_04_044502.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/asmedigitalcollection.asme.org\/mechanismsrobotics\/article-pdf\/doi\/10.1115\/1.4032405\/6255267\/jmr_008_04_044502.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,1]],"date-time":"2025-06-01T00:19:41Z","timestamp":1748737181000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/mechanismsrobotics\/article\/doi\/10.1115\/1.4032405\/384300\/Actuation-Configurations-of-Bionic-Hands-for-a"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,3,7]]},"references-count":16,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2016,8,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.4032405","relation":{},"ISSN":["1942-4302","1942-4310"],"issn-type":[{"type":"print","value":"1942-4302"},{"type":"electronic","value":"1942-4310"}],"subject":[],"published":{"date-parts":[[2016,3,7]]},"article-number":"044502"}}