Measuring anthropomorphism of a new humanoid hand-arm system
Existing perceptional and analytical techniques for quantifying anthropomorphism of robotic hand-arm systems have significant limitations. The former is based on subjective appraisals by human observers, which are prone to biases. The latter frequently disregards the manipulability of the robotic ha...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/170298 |
| _version_ | 1826118092076351488 |
|---|---|
| author | Sinha, Anoop Kumar Thalmann, Nadia Magnenat Cai, Yiyu |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Sinha, Anoop Kumar Thalmann, Nadia Magnenat Cai, Yiyu |
| author_sort | Sinha, Anoop Kumar |
| collection | NTU |
| description | Existing perceptional and analytical techniques for quantifying anthropomorphism of robotic hand-arm systems have significant limitations. The former is based on subjective appraisals by human observers, which are prone to biases. The latter frequently disregards the manipulability of the robotic hand-arm system leading to potentially flawed estimation of anthropomorphism. Additionally, prior methodologies have predominantly focused on assessing anthropomorphism of robotic hands while paying scant attention to that of robotic arms. In this paper, we propose an analytical method to quantify the functional anthropomorphism of robotic hand-arm systems. In this method, relative workspace coverage and manipulability of the robot arm and fingers are compared with those of the human arm and fingers. The proposed methodology is then used to quantify functional anthropomorphism of several hand-arm systems, including our new full-scale humanoid robot hand-arm system, the iCub hand-arm system, and robot arms such as Atlas, H20, and Hubo2+/Sophia, as well as robot hands like Shadow, DEXMART, and SEOULTECH. Our new robot hand-arm system has a functional anthropomorphism of 23.31%, while iCub’s is 35.96%. Atlas, H20, and Hubo2+/Sophia robot arm have functional anthropomorphism of 24.79%, 12.82%, and 29.64%, respectively, while Shadow, DEXMART, and SEOULTECH robot hands have functional anthropomorphism of 36.96%, 48.91%, and 25.33%, respectively. The proposed method is an effective tool for designers to quantitatively compare the human-likeness of both new and existing robotic hand-arm systems and identify possible improvements in the design. We further conducted a series of kinematic experiments to ascertain the kinematic capabilities of our humanoid robot hand-arm system. |
| first_indexed | 2024-10-01T04:38:05Z |
| format | Journal Article |
| id | ntu-10356/170298 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:38:05Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1702982023-09-06T02:41:54Z Measuring anthropomorphism of a new humanoid hand-arm system Sinha, Anoop Kumar Thalmann, Nadia Magnenat Cai, Yiyu School of Mechanical and Aerospace Engineering Institute for Media Innovation (IMI) Engineering::Mechanical engineering Anthropomorphism Robotic Hand-Arm System Existing perceptional and analytical techniques for quantifying anthropomorphism of robotic hand-arm systems have significant limitations. The former is based on subjective appraisals by human observers, which are prone to biases. The latter frequently disregards the manipulability of the robotic hand-arm system leading to potentially flawed estimation of anthropomorphism. Additionally, prior methodologies have predominantly focused on assessing anthropomorphism of robotic hands while paying scant attention to that of robotic arms. In this paper, we propose an analytical method to quantify the functional anthropomorphism of robotic hand-arm systems. In this method, relative workspace coverage and manipulability of the robot arm and fingers are compared with those of the human arm and fingers. The proposed methodology is then used to quantify functional anthropomorphism of several hand-arm systems, including our new full-scale humanoid robot hand-arm system, the iCub hand-arm system, and robot arms such as Atlas, H20, and Hubo2+/Sophia, as well as robot hands like Shadow, DEXMART, and SEOULTECH. Our new robot hand-arm system has a functional anthropomorphism of 23.31%, while iCub’s is 35.96%. Atlas, H20, and Hubo2+/Sophia robot arm have functional anthropomorphism of 24.79%, 12.82%, and 29.64%, respectively, while Shadow, DEXMART, and SEOULTECH robot hands have functional anthropomorphism of 36.96%, 48.91%, and 25.33%, respectively. The proposed method is an effective tool for designers to quantitatively compare the human-likeness of both new and existing robotic hand-arm systems and identify possible improvements in the design. We further conducted a series of kinematic experiments to ascertain the kinematic capabilities of our humanoid robot hand-arm system. National Research Foundation (NRF) This research is supported by the National Research Foundation, Singapore under its International Research Centres in Singapore Funding Initiative. 2023-09-06T02:41:53Z 2023-09-06T02:41:53Z 2023 Journal Article Sinha, A. K., Thalmann, N. M. & Cai, Y. (2023). Measuring anthropomorphism of a new humanoid hand-arm system. International Journal of Social Robotics, 15(8), 1341-1363. https://dx.doi.org/10.1007/s12369-023-00999-x 1875-4791 https://hdl.handle.net/10356/170298 10.1007/s12369-023-00999-x 2-s2.0-85159651340 8 15 1341 1363 en International Journal of Social Robotics © 2023 The Author(s), under exclusive licence to Springer Nature B.V. |
| spellingShingle | Engineering::Mechanical engineering Anthropomorphism Robotic Hand-Arm System Sinha, Anoop Kumar Thalmann, Nadia Magnenat Cai, Yiyu Measuring anthropomorphism of a new humanoid hand-arm system |
| title | Measuring anthropomorphism of a new humanoid hand-arm system |
| title_full | Measuring anthropomorphism of a new humanoid hand-arm system |
| title_fullStr | Measuring anthropomorphism of a new humanoid hand-arm system |
| title_full_unstemmed | Measuring anthropomorphism of a new humanoid hand-arm system |
| title_short | Measuring anthropomorphism of a new humanoid hand-arm system |
| title_sort | measuring anthropomorphism of a new humanoid hand arm system |
| topic | Engineering::Mechanical engineering Anthropomorphism Robotic Hand-Arm System |
| url | https://hdl.handle.net/10356/170298 |
| work_keys_str_mv | AT sinhaanoopkumar measuringanthropomorphismofanewhumanoidhandarmsystem AT thalmannnadiamagnenat measuringanthropomorphismofanewhumanoidhandarmsystem AT caiyiyu measuringanthropomorphismofanewhumanoidhandarmsystem |