The increasing development of anthropomorphic artificial hands makes necessary quick metrics that analyze their\nanthropomorphism. In this study, a human grasp experiment on the most important grasp types was undertaken in order to\nobtain an Anthropomorphism Index of Mobility (AIM) for artificial hands. The AIM evaluates the topology of the whole hand,\njoints and degrees of freedom (DoFs), and the possibility to control these DoFs independently. It uses a set of weighting factors,\nobtained from analysis of human grasping, depending on the relevance of the different groups of DoFs of the hand. The\ncomputation of the index is straightforward, making it a useful tool for analyzing new artificial hands in early stages of the\ndesign process and for grading human-likeness of existing artificial hands. Thirteen artificial hands, both prosthetic and robotic,\nwere evaluated and compared using the AIM, highlighting the reasons behind their differences. The AIM was also compared\nwith other indexes in the literature with more cumbersome computation, ranking equally different artificial hands. As the index\nwas primarily proposed for prosthetic hands, normally used as nondominant hands in unilateral amputees, the grasp types\nselected for the human grasp experiment were the most relevant for the human nondominant hand to reinforce bimanual\ngrasping in activities of daily living. However, it was shown that the effect of using the grasping information from the dominant\nhand is small, indicating that the index is also valid for evaluating the artificial hand as dominant and so being valid for bilateral\namputees or robotic hands.
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