Research Article
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 |
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