Over the last years the field of robot hands design has received increased attention. Anthropomorphic characteristics (e.g. appearance, kinematics), use of light-weight, low-cost and flexible materials and synergistic actuation are some of the current trends. The aforementioned interest, is motivated by the fact that robot hands can be used for a number of everyday life applications, ranging from teleoperation/telemanipulation studies, to human robot interaction, for humanoid robots or even as affordable myoelectric prostheses.

Our robot hands are created with different levels of anthropomorphism. Thus design directions will be provided for robot hands that have only anthropomorphic fingers and/or humanlike placement of the finger base frames (simple low-cost robot hands), as well as for anthropomorphic myoelectric prostheses, inspired by the most dexterous end-effector known, the human hand.

Minas V. Liarokapis, Panagiotis K. Artemiadis and Kostas J. Kyriakopoulos, “Quantifying Anthropomorphism of Robot Hands”, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe (Germany), 2013. [BibTeX] [PDF]

A toolbox for the quantification of anthropomorphism can be found at the OpenBionics GitHub repository.
Another approach for the quantification of anthropomorphism (by Feix et al.) can be found here.