Anthropomorphism Index of Mobility for Artificial Hands
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|