Data of "The Anthropomorphic Hand Assessment Protocol (AHAP)" paper

This file contains the data of the paper "The Anthropomorphic Hand Assessment Protocol (AHAP)".

The AHAP benchmark was performed with five artificial hands, three configurations of the ARMAR-6 v1 robotic hand (A1: without any pad, A2: with five pads in the fingertips, A3: with five pads in the fingertips and four additional pads in the palm) and two versions of the KIT prosthetic hand (P1: preliminary version, P2: final and published version). The tests were video-recorded and the videos were independently reviewed by five different raters.

The scores awarded by each rater for each hand are shown in sheet "Data". In sheet "Mean scores" are shown the mean Grasping Ability Score (GAS) across raters of the different hands. In this sheet is also shown the mean score for each part of the task (grasping and maintaining) and the mean Partial GAS (for each grasp type) obtained by the different tested hand models.

Please, cite the original research paper: Immaculada Llop-Harillo, Antonio Pérez-González, Julia Starke, and Tamim Asfour (2019) The Anthropomorphic Hand Assessment Protocol (AHAP), Robotics and Autonomous Systems, vol.121, DOI: 10.1016/j.robot.2019.103259