Measurement of distribution of maximum index-fingertip force in all directions at fingertip in flexion/extension plane

The purpose of the present study is to investigate whether distribution patterns of the maximum fingertip force in all directions from 0 deg to 360 deg around the index fingertip are the same among subjects. Distributions of the maximum index fingertip force were measured at four finger postures for five subjects (healthy males, ages 21 to 25). It became apparent that distribution patterns of the fingertip force were very similar among subjects, through the application of an analysis of variance (level of significance: 5%) to the measurement results. In the production of the maximum fingertip force, Valero-Cuevas et al. [1998, 2000] reported that patterns of control signals for driving muscle forces were common among subjects. The results of the present study indicate that patterns of maximum fingertip force are also similar among subjects. Therefore, the possibility is high that the static transfer characteristic for index fingers from input (i.e., control signals to muscles) to output (ie., the maximum fingertip force) is also common among subjects.     

Estimating in vivo passive forces of the index finger muscles: Exploring model parameters

We compared predicted passive finger joint torques from a biomechanical model that includes the exponential passive muscle force–length relationship documented in the literature with finger joint torques estimated from measures in ten adult volunteers. The estimated finger joint torques were calculated from measured right index fingertip force, joint postures, and anthropometry across 18 finger and wrist postures with the forearm muscles relaxed. The biomechanical model predicting passive finger joint torques included three extrinsic and three intrinsic finger muscles. The values for the predicted passive joint torques were much larger than the values calculated from the fingertip force and posture measures with an average RMS error of 7.6 N cm. Sensitivity analysis indicated that the predicted joint torques were most sensitive to passive force–length model parameters compared to anthropometric and postural parameters. Using Monte Carlo simulation, we determined a new set of values for the passive force–length model parameters that reduced the differences between the joint torques calculated from the two methods to an average RMS value of 0.5 N cm, a 94% average improvement of error from the torques predicted using the existing data. These new parameter values did vary across individuals; however, using an average set for the parameter values across subjects still reduced the average RMS difference to 0.8 N cm. These new parameters may improve dynamic modeling of the finger during sub-maximal force activities and are based on in vivo data rather than traditional in vitro data.     

Analysis of musculoskeletal loading in an index finger during tapping

Since musculoskeletal disorders of the upper extremities are believed to be associated with repetitive excessive muscle force production in the hands, understanding the time-dependent muscle forces during key tapping is essential for exploring the mechanisms of disease initiation and development. In the current study, we have simulated the time-dependent dynamic loading in the muscle/tendons in an index finger during tapping. The index finger model is developed using a commercial software package AnyBody, and it contains seven muscle/tendons that connect the three phalangeal finger sections. Our simulations indicate that the ratios of the maximal forces in flexor digitorum superficialis (FS) and flexor digitorum profundus (FP) tendons to the maximal force at the fingertip are 0.95 and 2.9, respectively, which agree well with recently published experimental data. The time sequence of the finger muscle activation predicted in the current study is consistent with the EMG data in the literature. The proposed model will be useful for bioengineers and ergonomic designers to improve keyboard design minimizing musculoskeletal loadings in the fingers.     

The effect of torque direction and cylindrical handle diameter on the coupling between the hand and a cylindrical handle

Pheasant and O'Neill's torque model (1975) was modified to account for grip force distributions. The modified model suggests that skin friction produced by twisting an object in the direction of fingertips causes flexion of the distal phalanges and increases grip force and, thus, torque. Twelve subjects grasped a cylindrical object with diameters of 45.1, 57.8, and 83.2 mm in a power grip, and performed maximum torque exertions about the long axis of the handle in two directions: the direction the thumb points and the direction the fingertips point. Normal force on the fingertips increased with torque toward the fingertips, as predicted by the model. Consequently, torque toward the fingertips was 22% greater than torque toward the thumb. Measured torque and fingertip forces were compared with model predictions. Torque could be predicted well by the model. Measured fingertip force and thumb force were, on average, 27% less than the predicted values. Consistent with previous studies, grip force decreased as the handle diameter increased from 45.1 to 83.2 mm. This may be due not only to the muscle length-strength relationship, but also to major active force locations on the hand: grip force distributions suggest that a small handle allows fingertip force and thumb force to work together against the palm, resulting in a high reaction force on the palm, and, therefore, a high grip force. For a large handle, fingertip force and thumb force act against each other, resulting in little reaction force on the palm and, thus, a low grip force.     

Finger joint force minimization in pianists using optimization techniques

A numerical optimization procedure was used to determine finger positions that minimize and maximize finger tendon and joint force objective functions during piano play. A biomechanical finger model for sagittal plane motion, based on finger anatomy, was used to investigate finger tendon tensions and joint reaction forces for finger positions used in playing the piano. For commonly used piano key strike positions, flexor and intrinsic muscle tendon tensions ranged from 0.7 to 3.2 times the fingertip key strike force, while resultant inter-joint compressive forces ranged from 2 to 7 times the magnitude of the fingertip force. In general, use of a curved finger position, with a large metacarpophalangeal joint flexion angle and a small proximal interphalangeal joint flexion angle, reduces flexor tendon tension and resultant finger joint force.     

Balancing a force on the fingertip of a two-dimensional finger model without intrinsic muscles

A slightly flexed human middle finger can balance an external force on the fingertip. Internal stabilization is also possible, which means that the externally unloaded finger can be kept stiff. We want to analyse whether in these situations the intrinsic hand muscles are needed. Distances from tendons to flexion axes are taken from the literature and are substituted in the moment equilibrium equations of a two-dimensional finger model. Diagrams illustrate the statically indeterminate problem of solving tendon forces. The possibilities for equilibrium without intrinsics appear to depend mainly on four tendon-to-joint distances. These distances determine to which of two groups a finger belongs: (1) one in which intrinsics are not necessary for internal stabilization nor for balancing a force on the fingertip in any direction in the sagittal plane; (2) one in which, without intrinsics, internal stabilization is impossible and only dorso-distally directed forces on the fingertip can be balanced.     

Characteristics of human fingertips in the shearing direction

The shearing strain of the human fingertip plays an important role in the determination of the optimal grasping force and in the perception of texture. Most research concerned with the mechanical impedance of the human fingertips has treated the orthogonal direction to the tip surface, and little attention has been paid to the tangential direction. This paper describes impedance characteristics of the human fingertips in the tangential directions to the tip surface. In the experiment, step and ramp shearing forces were individually applied to the tips of the thumb, middle finger, and little finger. Dynamics of the fingertips were represented by the Kelvin model. Experimental results show that each fingertip had different properties with respect to the shearing strain versus the applied force, and that the thumb had the strongest shearing stiffness among these three digits. Moreover, the shearing stiffness depended on the direction of the applied force, and the stiffness in the pointing direction was stronger than that in the perpendicular direction. As the contact force in the orthogonal direction to the fingertip surface was increased, the shearing stiffness and viscosity increased without regard to the load speed of the shearing force. Furthermore, it is shown that the average strain rate of the fingertip in the tangential direction to the fingertip surface became slower and converged to a constant value with higher contact forces.     

Effect of object width on muscle and joint forces during thumb-index finger grasping

The objective of this study was to identify the impact of modifying the object width on muscle and joint forces while gripping objects. The experimental protocol consisted to maintain horizontally five objects of different widths (3.5, 4.5, 5.5, 6.5, and 7.5 cm) with a thumb-index finger grip. Subjects were required to grasp spontaneously the object without any instruction regarding the grip force (GF) to apply. A biomechanical model of thumb-index finger pinch was developed to estimate muscle and joint forces. This model included electromyography, fingertip force, and kinematics data as inputs. The finger joint postures and the GF varied across the object widths. The estimated muscle forces also varied significantly according to the object width. Interestingly, we observed that the muscle force/GF ratios of major flexor muscles remain particularly stable with respect to the width whereas other muscle ratios differed largely. This may argue for a control strategy in which the actions of flexors were preserved in spite of change in joint postures. The estimated joint forces tended to increase with object width and increased in the distal-proximal sense. Overall, these results are of importance for the ergonomic design of handheld objects and for clinical applications.     

In vivo forces generated by finger flexor muscles do not depend on the rate of fingertip loading during an isometric task

Risk factors for activity-related tendon disorders of the hand include applied force, duration, and rate of loading. Understanding the relationship between external loading conditions and internal tendon forces can elucidate their role in injury and rehabilitation. The goal of this investigation is to determine whether the rate of force applied at the fingertip affects in vivo forces in the flexor digitorum profundus (FDP) tendon and the flexor digitorum superficialis (FDS) tendon during an isometric task. Tendon forces, recorded with buckle force transducers, and fingertip forces were simultaneously measured during open carpal tunnel surgery as subjects (N=15) increased their fingertip force from 0 to 15N in 1, 3, and 10s. The rates of 1.5, 5, and 15N/s did not significantly affect FDP or FDS tendon to fingertip force ratios. For the same applied fingertip force, the FDP tendon generated more force than the FDS. The mean FDP to fingertip ratio was 2.4+/-0.7 while the FDS to tip ratio averaged 1.5+/-1.0 (p<0.01). The fine motor control needed to generate isometric force ramps at these specific loading rates probably required similar high activation levels of multiple finger muscles in order to stabilize the finger and control joint torques at the force rates studied. Therefore, for this task, no additional increase in muscle force was observed at higher rates. These findings suggest that for high precision, isometric pinch maneuvers under static finger conditions, tendon forces are independent of loading rate.     

Three-dimensional finite element simulations of the mechanical response of the fingertip to static and dynamic compressions

The analysis of the mechanics of the contact interactions of fingers/handle and the stress/strain distributions in the soft tissues in the fingertip is essential to optimize design of tools to reduce many occupation-related hand disorders. In the present study, a three-dimensional (3D) finite element (FE) model for the fingertip is proposed to simulate the nonlinear and time-dependent responses of a fingertip to static and dynamic loadings. The proposed FE model incorporates the essential anatomical structures of a finger: skin layers (outer and inner skins), subcutaneous tissue, bone and nail. The soft tissues (inner skin and subcutaneous tissue) are considered to be nonlinearly viscoelastic, while the hard tissues (outer skin, bone and nail) are considered to be linearly elastic. The proposed model has been used to simulate two loading scenarios: (a) the contact interactions between the fingertip and a flat surface and (b) the indentation of the fingerpad via a sharp wedge. For case (a), the predicted force/displacement relationships and time-dependent force responses are compared with the published experimental data; for case (b), the skin surface deflection profiles were predicted and compared with the published experimental observations. Furthermore, for both cases, the time-dependent stress/strain distributions within the tissues of the fingertip were calculated. The good agreement between the model predictions and the experimental observations indicates that the present model is capable of predicting realistic time-dependent force/displacement responses and stress/strain distributions in the soft tissues for dynamic loading conditions.     

Three-dimensional finite element simulations of the mechanical response of the fingertip to static and dynamic compressions

The analysis of the mechanics of the contact interactions of fingers/handle and the stress/strain distributions in the soft tissues in the fingertip is essential to optimize design of tools to reduce many occupation-related hand disorders. In the present study, a three-dimensional (3D) finite element (FE) model for the fingertip is proposed to simulate the nonlinear and time-dependent responses of a fingertip to static and dynamic loadings. The proposed FE model incorporates the essential anatomical structures of a finger: skin layers (outer and inner skins), subcutaneous tissue, bone and nail. The soft tissues (inner skin and subcutaneous tissue) are considered to be nonlinearly viscoelastic, while the hard tissues (outer skin, bone and nail) are considered to be linearly elastic. The proposed model has been used to simulate two loading scenarios: (a) the contact interactions between the fingertip and a flat surface and (b) the indentation of the fingerpad via a sharp wedge. For case (a), the predicted force/displacement relationships and time-dependent force responses are compared with the published experimental data; for case (b), the skin surface deflection profiles were predicted and compared with the published experimental observations. Furthermore, for both cases, the time-dependent stress/strain distributions within the tissues of the fingertip were calculated. The good agreement between the model predictions and the experimental observations indicates that the present model is capable of predicting realistic time-dependent force/displacement responses and stress/strain distributions in the soft tissues for dynamic loading conditions.     

Development of a dynamic index finger and thumb model to study impairment

Modeling of the human hand provides insight for explaining deficits and planning treatment following injury. Creation of a dynamic model, however, is complicated by the actions of multi-articular tendons and their complex interactions with other soft tissues in the hand. This study explores the creation of a musculoskeletal model, including the thumb and index finger, to explore the effects of muscle activation deficits. The OpenSim model utilizes physiological axes of rotation at all joints, passive joint torques, and appropriate moment arms. The model was validated through comparison with kinematic and kinetic experimental data. Simulated fingertip forces resulting from modeled musculotendon loading largely fell within one standard deviation of experimental ranges for most index finger and thumb muscles, although agreement in the sagittal plane was generally better than for the coronal plane. Input of experimentally obtained electromyography data produced the expected simulated finger and thumb motion. Use of the model to predict the effects of activation deficits on pinch force production revealed that the intrinsic muscles, especially first dorsal interosseous (FDI) and adductor pollicis (ADP), had a substantial impact on the resulting fingertip force. Reducing FDI activation, such as might occur following stroke, altered fingertip force direction by up to 83° for production of a dorsal fingertip force; reducing ADP activation reduced force production in the thumb by up to 62%. This validated model can provide a means for evaluating clinical interventions.     

Biomechanical Analysis of the Human Finger Extensor Mechanism during Isometric Pressing

This study investigated the effects of the finger extensor mechanism on the bone-to-bone contact forces at the interphalangeal and metacarpal joints and also on the forces in the intrinsic and extrinsic muscles during finger pressing. This was done with finger postures ranging from very flexed to fully extended. The role of the finger extensor mechanism was investigated by using two alternative finger models, one which omitted the extensor mechanism and another which included it. A six-camera three-dimensional motion analysis system was used to capture the finger posture during maximum voluntary isometric pressing. The fingertip loads were recorded simultaneously using a force plate system. Two three-dimensional biomechanical finger models, a minimal model without extensor mechanism and a full model with extensor mechanism (tendon network), were used to calculate the joint bone-to-bone contact forces and the extrinsic and intrinsic muscle forces. If the full model is assumed to be realistic, then the results suggest some useful biomechanical advantages provided by the tendon network of the extensor mechanism. It was found that the forces in the intrinsic muscles (interosseus group and lumbrical) are significantly reduced by 22% to 61% due to the action of the extensor mechanism, with the greatest reductions in more flexed postures. The bone-to-bone contact force at the MCP joint is reduced by 10% to 41%. This suggests that the extensor mechanism may help to reduce the risk of injury at the finger joints and also to moderate the forces in intrinsic muscles. These apparent biomechanical advantages may be a result of the extensor mechanism''s distinctive interconnected fibrous structure, through which the contraction of the intrinsic muscles as flexors of the MCP joint can generate extensions at the DIP and PIP joints.     

Quantification of fingertip force reduction in the forefinger following simulated paralysis of extensor and intrinsic muscles

Objective estimates of fingertip force reduction following peripheral nerve injuries would assist clinicians in setting realistic expectations for rehabilitating strength of grasp. We quantified the reduction in fingertip force that can be biomechanically attributed to paralysis of the groups of muscles associated with low radial and ulnar palsies. We mounted 11 fresh cadaveric hands (5 right, 6 left) on a frame, placed their forefingers in a functional posture (neutral abduction, 45° of flexion at the metacarpophalangeal and proximal interphalangeal joints, and 10° at the distal interphalangeal joint) and pinned the distal phalanx to a six-axis dynamometer. We pulled on individual tendons with tensions up to 25% of maximal isometric force of their associated muscle and measured fingertip force and torque output. Based on these measurements, we predicted the optimal combination of tendon tensions that maximized palmar force (analogous to tip pinch force, directed perpendicularly from the midpoint of the distal phalanx, in the plane of finger flexion–extension) for three cases: non-paretic (all muscles of forefinger available), low radial palsy (extrinsic extensor muscles unavailable) and low ulnar palsy (intrinsic muscles unavailable). We then applied these combinations of tension to the cadaveric tendons and measured fingertip output. Measured palmar forces were within 2% and 5° of the predicted magnitude and direction, respectively, suggesting tendon tensions superimpose linearly in spite of the complexity of the extensor mechanism. Maximal palmar forces for ulnar and radial palsies were 43 and 85% of non-paretic magnitude, respectively (p<0.05). Thus, the reduction in tip pinch strength seen clinically in low radial palsy may be partly due to loss of the biomechanical contribution of forefinger extrinsic extensor muscles to palmar force. Fingertip forces in low ulnar palsy were 9° further from the desired palmar direction than the non-paretic or low radial palsy cases (p<0.05).     

Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model

To emulate the actual neuro-control mechanism of human bipedal locomotion, an anatomically and physiologically based neuro-musculo-skeletal model is developed. The human musculo-skeletal system is constructed as seven rigid links in a sagittal plane, with a total of nine principal muscles. The nervous system consists of an alpha motoneuron and proprioceptors such as a muscle spindle and a Golgi tendon organ for each muscle. At the motoneurons, feedback signals from the proprioceptors are integrated with the signal induced by foot–ground contact and input from the rhythm pattern generator; a muscle activation signal is produced accordingly. Weights of connection in the neural network are optimized using a genetic algorithm, thus maximizing walking distance and minimizing energy consumption. The generated walking pattern is in remarkably good agreement with that of actual human walking, indicating that the locomotory pattern could be generated automatically, according to the musculo-skeletal structures and the connections of the peripheral nervous system, particularly due to the reciprocal innervation in the muscle spindles. Using the proposed model, the flow of sensory-motor information during locomotion is estimated and a possible neuro-control mechanism is discussed. Received: 03 December 1998 / Accepted in revised form: 09 June 2000     

The contribution of the wrist, elbow and shoulder joints to single-finger tapping

We aimed to determine the role of the wrist, elbow and shoulder joints to single-finger tapping. Six human subjects tapped with their index finger at a rate of 3 taps/s on a keyswitch across five conditions, one freestyle (FS) and four instructed tapping strategies. The four instructed conditions were to tap on a keyswitch using the finger joint only (FO), the wrist joint only (WO), the elbow joint only (EO), and the shoulder joint only (SO). A single-axis force plate measured the fingertip force. An infra-red active-marker three-dimensional motion analysis system measured the movement of the fingertip, hand, forearm, upper arm and trunk. Inverse dynamics estimated joint torques for the metacarpal-phalangeal (MCP), wrist, elbow, and shoulder joints. For FS tapping 27%, 56%, and 18% of the vertical fingertip movement were a result of flexion of the MCP joint and wrist joint and extension of the elbow joint, respectively. During the FS movements the net joint powers between the MCP, wrist and elbow were positively correlated (correlation coefficients between 0.46 and 0.76) suggesting synergistic efforts. For the instructed tapping strategies (FO, WO, EO, and SO), correlations decreased to values below 0.35 suggesting relatively independent control of the different joints. For FS tapping, the kinematic and kinetic data indicate that the wrist and elbow contribute significantly, working in synergy with the finger joints to create the fingertip tapping task.     

A computational analysis of separating motion signals in transparent random dot kinematograms

When multiple motion directions are presented simultaneously within the same region of the visual field human observers see motion transparency. This perceptual phenomenon requires from the visual system to separate different motion signal distributions, which are characterised by distinct means that correspond to the different dot directions and variances that are determined by the signal and processing noise. Averaging of local motion signals can be employed to reduce noise components, but such pooling could at the same time lead to the averaging of different directional signal components, arising from spatially adjacent dots moving in different directions, which would reduce the visibility of transparent directions. To study the theoretical limitations of encoding transparent motion by a biologically plausible motion detector network, the distributions of motion directions signalled by a motion detector model (2DMD) were analysed here for Random Dot Kinematograms (RDKs). In sparse dot RDKs with two randomly interleaved motion directions, the angular separation that still allows us to separate two directions is limited by the internal noise in the system. Under the present conditions direction differences down to 30 deg could be separated. Correspondingly, in a transparent motion stimulus containing multiple motion directions, more than eight directions could be separated. When this computational analysis is compared to some published psychophysical data, it appears that the experimental results do not reach the predicted limits. Whereas the computer simulations demonstrate that even an unsophisticated motion detector network would be appropriate to represent a considerable number of motion directions simultaneously within the same region, human observers usually are restricted to seeing not more than two or three directions under comparable conditions. This raises the question why human observers do not make full use of information that could be easily extracted from the representation of motion signals at the early stages of the visual system.     

Finger length and distal finger extent patterns in humans

The fingers in the adult human hand differ in length and in distal extent. The literature agrees that in the clear majority of males, the distal extent of the ring finger tends to be relatively greater (using the middle finger as standard) than the index finger. However, the results for females vary considerably, with some studies reporting that females show a similar pattern to that of males, while others suggest that the prevalence of a longer index finger is relatively or absolutely more common in females. We provide a review of the literature, and a set of data for both finger length and distal fingertip extent of the finger for a contemporary cohort of young adult females and males (n = 502). Finger length measures favor the ring finger of both sexes, with smaller between-finger differences for females than for males. However, while the distal fingertip extent favors the ring finger of both hands in males, in females the left hand shows no significant differences, and the right hand shows a small index finger advantage. Thus, the sexual dimorphism in finger measures is more strongly expressed in the distal extent of fingertips than in the length of fingers. The sex differences in distal fingertip extent derive from the index finger only, with a lesser distal extent of the index finger, relative to the middle finger, in males than in females.