Anthropomorphism Index of Mobility for Artificial Hands

Table 2

Classification of the DoF depending on the type of actuation and numeric coefficient associated.

Class	Type of actuation of the DoF
A	DoF actuated by one independent motor or actuator	1
B	DoF underactuated with other DoFs without a rigid coupling, allowing adaptive grasps (tendons, elastic elements)	0.75
C	DoF underactuated with other DoFs with a rigid coupling, not allowing adaptive grasp (linkages)	0.5
D	No actuation on the DoF, but passive motion allowed	0.25
E	DoF absent in the artificial hand	0