Functional design methodology for customised anthropomorphic artificial hands.

This short paper outlines a framework for an evaluation method that takes as an input a model of an anthropomorphic artificial hand and produces as output the set of tasks that it can perform. The framework is based on the anatomy and functionalities of the human hand and methods of implementing these functionalities in artificial systems and focuses on the evaluation of the intrinsic hardware of robot hands. The paper also presents a partial implementation of the framework: a method to evaluate anthropomorphic postures using Fuzzy logic and a method to evaluate anthropomorphic grasping abilities. The methods are applied on models of the human hand and the InMoov robot hand; results show the methods' ability to detect successful postures and grasps.