A light weight compliant hand mechanism with high degrees of freedom

This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees of freedom in each finger are coupled, reducing the number of independent degrees of freedom to 5, the 15 degrees of freedom of the hand could potentially be individually actuated. Each joint consists of a novel flexing mechanism that is based on the loading of a compression spring in the axial and transverse direction via a cable and conduit system. Currently, a bench top version of the prototype is being developed; the three joints of each finger are coupled together to simplify the control system. The current control scheme under investigation simulates a control scheme where myoelectric signals in the wrist flexor and extensor muscles are converted in to x and y coordinates on a control scheme chart. Static load-deformation analysis of finger segments is studied based on a 3-dimensional model without taking the stiffener into account, and the experiment validates the simulation.     

Matching object size by controlling finger span and hand shape

The ability of human subjects to accurately control finger span (distance between thumb and one finger) was studied. The experiments were performed without visual feedback of the hand and were designed to study the dependence of accuracy on object size, shape, distance, orientation and finger configuration. The effects of finger combination and sensory modality used to perceive object size (vision and haptics) were also studied. Subjects were quite proficient at this task; the small errors tended to be predominantly negative, i.e., finger span object size. The thumb-little finger combination was less accurate than the other finger combinations, irrespective of the sensory modality used. Subjects made larger under-estimating errors when matching the size of cylinders than when matching cubes and parallelepipeds. No effect of viewing distance, object orientation and finger configuration was found. Accuracy in matching object size was not dependent on the sensory modality used. The question of how the individual degrees of freedom of the fingers and thumb contributed to the control of finger span was also addressed. Principal components analysis showed that two components could characterize the hand postures used, irrespective of object size. The amplitude of the first principal component was constant, and the amplitude of the second scaled linearly with object size. This finding suggests that all of the degrees of freedom of the hand are controlled as a unit. This result is discussed in relation to the 'virtual finger' hypothesis for grasping.     

Virtual human hand: model and kinematics

The human hand plays an important role in daily life. It is the interface between the human and the exterior world by positioning, orienting, touching and grasping objects. The human hand has multiple degrees of freedom (DOFs) to enable mobility and dexterity. A virtual human hand model can be inserted into CAD (Computer Aided Design) models to assess the manipulation capabilities in the early design stage to reduce design time and cost. Joystick assessment is one of the important design cases. This study is a first step towards a comprehensive hand simulation tool to simulate the manipulation and grasping of objects. This paper presents a novel 25 DOFs' hand skeletal model based on hand anatomy and hand kinematics: (1) joint range of motion, (2) Denavit–Hartenberg method to define the joint relationship and (3) finger workspace determination. Novelty for this hand model includes arching the palm with the four DOFs added in the carpometacarpal and wrist joints for the ring and small fingers.     

Evidence of muscle synergies during human grasping

Motor synergies have been investigated since the 1980s as a simplifying representation of motor control by the nervous system. This way of representing finger positional data is in particular useful to represent the kinematics of the human hand. Whereas, so far, the focus has been on kinematic synergies, that is common patterns in the motion of the hand and fingers, we hereby also investigate their force aspects, evaluated through surface electromyography (sEMG). We especially show that force-related motor synergies exist, i.e. that muscle activation during grasping, as described by the sEMG signal, can be grouped synergistically; that these synergies are largely comparable to one another across human subjects notwithstanding the disturbances and inaccuracies typical of sEMG; and that they are physiologically feasible representations of muscular activity during grasping. Potential applications of this work include force control of mechanical hands, especially when many degrees of freedom must be simultaneously controlled.     

Coordination of thumb joints during opposition

Thumb opposition plays a vital role in hand function. Kinematically, thumb opposition results from composite movements from multiple joints moving in multiple directions. The purpose of this study was to examine the coordination of thumb joints during opposition tasks. A total of 15 female subjects with asymptomatic hands were studied. Three-dimensional angular kinematics of the carpometacarpal (CMC), metacarpophalangeal (MCP) and interphalangeal (IP) joints were obtained by a marker-based motion analysis system. Thumb opposition revealed coordination among joints in a specific direction (inter-joint coordination) and among different directions within a joint (intra-joint coordination). In particular, linear couplings existed between the flexion and pronation at the CMC joint, and between the flexion of the CMC joint and flexion of the MCP joint. Principal component analysis showed that only two principal components adequately represented the thumb opposition data of seven movement directions. A term functional degrees of freedom by virtue of principal component analysis was proposed to uncover the extent of movement coordination in functional tasks.     

Optimizing the correction of severe postburn hand deformities by using aggressive contracture releases and fasciocutaneous free-tissue transfers

Severe postburn hand deformities were classified into three major patterns: hyperextension deformity of the metacarpophalangeal joint of the fingers with dorsal contracture of the hand, adduction contracture of the thumb with hyperextension deformity of the interphalangeal joint, and flexion contracture of the palm. Over the past 6 years, 18 cases of severe postburn hand deformities were corrected with extensor tenotomy, joint capsulotomy, and release of volar plate and collateral ligament. The soft-tissue defects were reconstructed with various fasciocutaneous free flaps, including the arterialized venous flap (n = 4), dorsalis pedis flap (n = 3), posterior interosseous flap (n = 3), first web space free flap (n = 3), and radial forearm flap (n = 1). Early active physical therapy was applied. All flaps survived. Functional return of pinch and grip strength was possible in 16 cases. In 11 cases of reconstruction of the dorsum of the hand, the total active range of motion in all joints of the fingers averaged 140 degrees. The mean grip strength was 16.5 kg and key pinch was 3.5 kg. In palm reconstruction, the wider contact area facilitated the grasping of larger objects. In thumb reconstruction, key-pinch increased to 5.5 kg and the angle of the first web space increased to 45 degrees. Jebsen's hand function test was not possible before surgery; postoperatively, it showed more functional recovery in gross motion and in the dominant hand. Aggressive contracture release of the bone,joints, tendons, and soft tissue is required for optimal results in the correction of severe postburn hand deformities. Various fasciocutaneous free flaps used to reconstruct the defect provide early motion, appropriate thinness, and excellent cosmesis of the hand.     

Hand function: peripheral and central constraints on performance.

The hand is one of the most fascinating and sophisticated biological motor systems. The complex biomechanical and neural architecture of the hand poses challenging questions for understanding the control strategies that underlie the coordination of finger movements and forces required for a wide variety of behavioral tasks, ranging from multidigit grasping to the individuated movements of single digits. Hence, a number of experimental approaches, from studies of finger movement kinematics to the recording of electromyographic and cortical activities, have been used to extend our knowledge of neural control of the hand. Experimental evidence indicates that the simultaneous motion and force of the fingers are characterized by coordination patterns that reduce the number of independent degrees of freedom to be controlled. Peripheral and central constraints in the neuromuscular apparatus have been identified that may in part underlie these coordination patterns, simplifying the control of multi-digit grasping while placing certain limitations on individuation of finger movements. We review this evidence, with a particular emphasis on how these constraints extend through the neuromuscular system from the behavioral aspects of finger movements and forces to the control of the hand from the motor cortex.     

A comparison of passive flexion-extension to normal gait in the ovine stifle joint

Obtaining accurate values of joint tissue loads in human subjects and animals in vivo requires exact 3D-reproduction of joint kinematics and comparisons of in vivo motions between subjects and animals, and also necessitates an accurate reference position. For the knee, passive flexion-extension of isolated joints by hand has been assumed to produce bony motions similar to those of normal gait. We hypothesized that passive flexion-extension kinematics would not accurately reproduce in vivo gait, and, further, that such kinematics would vary significantly between testers. In vivo gait motions of four ovine stifle joints were measured in six degrees of freedom, as were passive flexion-extension motions after sacrifice. Passive flexion-extension motions were performed by three testers on the same stifle joints used in vitro. Results showed statistically significant differences in all degrees of freedom, with the largest differences in the proximal-distal and internal-external directions. Differences induced by muscle loads and kinetic factors in vivo were most evident during stance and hoof-off phases of gait. The in vitro passive paths generated by hand created motions with large variability both between and within individual testers. The user dependence and "area" of motion of passive flexion-extension indicates that passive flexion-extension is contained in a volume of motion, rather than constrained to a unique path. The assumption that the passive path has relevance to precise bone positions during normal in vivo gait is not supported by these results. Thus, using passive flexion-extension as a reference between joints may introduce large motion variability in the observed outcome, and large potential errors in determining joint tissue loads.     

Hand and body position during locomotor behavior in the aye-aye (Daubentonia madagascariensis)

Aye-ayes (Daubentonia madagascariensis) have unique hands among primates, with extraordinarily long fingers in relation to body size. These long digits may be vulnerable to damage from forces during locomotion, particularly during head-first descent-a locomotor mode that the aye-aye utilizes frequently. Previous behavioral studies of aye-aye locomotion reported that Daubentonia must curl its fingers during horizontal quadrupedalism and/or descent to reduce potential stresses on its long fingers. To test this hypothesis, we examined hand and body position in three captive adult aye-ayes while they walked quadrupedally on horizontal and oblique branches. Substantial variation in hand position was observed among individuals for each substrate orientation. While hand postures with curled fingers were preferred by one individual during descent, they were not preferred by the other two individuals, contrary to our expectations. Differences in body position were more consistent among all three individuals. The angle of the body relative to the substrate was significantly reduced during descent (8.4 degrees ) compared to horizontal locomotion (16.9 degrees ). These results suggest that changes in body position, rather than hand position, may help reduce stresses on the digits. A biomechanical model is proposed that demonstrates how a reduction in the body angle in relation to substrate may act to move the center of mass more caudally. This mechanism of moderating loads by altering body position, rather than hand position, may represent an important functional aspect of arboreal locomotion in aye-ayes and other primates.     

Micro-manipulation system with a two-fingered micro-hand and its potential application in bioscience

A micro-manipulation system using a two-fingered micro-hand, an auto-focusing optical microscope, and user interfaces was developed. This micro-hand has 6 degrees of freedom (DOF): 3 DOF for each of the two fingers. These fingers work just like the thumb and forefinger. Thus, this hand can grasp, move, rotate, and release micro-objects, such as biological cells. A human operator can operate this hand using a joystick or a keyboard, while seeing the microscope image displayed on a monitor. The present paper describes two applications of this system to the field of bioscience. The first application involves extraction of cytoplasm from a cell using two, two-fingered micro-hands. One hand holds the cell firmly, while the other hand makes a hole in the cell and tears it. Then, the hand holding the cell squeezes the cytoplasm from the cell. The second application involves measurement of the mechanical properties of living cells using the micro-finger and a micro-force sensor based on the Atomic Force Microscope (AFM) principle. The AFM cantilever is placed within the microscopic field. The micro-finger holds a cell and presses it against the cantilever tip. By measuring the pressing force and the deformation of the cell, the cell's force-deformation curve is obtained.     

Involvement of erythrocyte skeletal proteins in the modulation of membrane fluidity by phenothiazines

The effects of phenothiazines (chlorpromazine, chlorpromazine sulfoxide, and trifluoperazine) and antimitotic drugs (colchicine and vinblastine) on the erythrocyte membrane have been investigated. Chlorpromazine and trifluoperazine induced a dose-dependent increase in the freedom of motion of stearic acid spin-labels bound to both intact erythrocytes and ghosts, but did not affect the freedom of motion of stearic acids bound to vesicles depleted of spectrin and actin or of ghosts resealed with anti-spectrin antibodies. Further, chlorpromazine and trifluoperazine were able to eliminate a protein 4.1 dependent membrane thermal transition detected by stearic acid spin-labels at 8.5 +/- 1.5 degrees C. Antimitotic drugs and chlorpromazine sulfoxide did not change either the freedom of motion of stearic acid spin-labels or the 8.5 degrees C membrane thermal transition. Results indicate the involvement of skeletal proteins as possible membrane target sites of biologically active phenothiazines and suggest that the control of stearic acid spin-label freedom of motion is mediated by the spectrin-actin network and the proteins that link the skeletal network to the membrane.     

Patterns of hand variation--new data on a Sardinian sample

This study is an analysis of the patterns of variation of the human hand, particularly the metric characters of palm, fingers and distal phalanges. Anthropometric measurements were performed on 146 Sardinian men and women, aged 21 to 31 years. The data were analyzed by inferential statistics (paired Student's t test, analysis of variance), and Principal Components Analysis. The results indicate that size factors are the principal source of variation. A residual adimensional component of variability is related to diversification between the fingers as a whole and the distal phalanges, and between the thumb and the other fingers. Sexual dimorphism is evident. Men present greater dimensions and greater relative length of the thumb with respect to the other fingers than women.     

Similarities in the Neural Control of the Shoulder and Elbow Joints Belie Their Structural Differences

Movement of the hand in three dimensional space is primarily controlled by the orientation of the shoulder and elbow complexes. Due to discrepancies in proprioceptive acuity, overlap in motor cortex representation and grossly different anatomies between these joints, we hypothesized that there would be differences in the accuracy of aimed movements between the two joints. Fifteen healthy young adults were tested under four conditions – shoulder motion with the elbow constrained and unconstrained, and elbow motion with the shoulder constrained and unconstrained. End point target locations for each joint were set to coincide with joint excursions of 10, 20 or 30 degrees of either the shoulder or elbow joint. Targets were presented in a virtual reality environment. For the constrained condition, there were no significant differences in angular errors between the two joints, suggesting that the central nervous system represents linked segment models of the limb in planning and controlling movements. For the unconstrained condition, although angle errors were higher, hand position errors remained the same as those of the constrained trials. These results support the idea that the CNS utilizes abundant degrees of freedom to compensate for the potentially different contributions to end-point errors introduced by each joint.     

Structural behavior of human lumbar spinal motion segments

The objectives of this study were to obtain linearized stiffness matrices, and assess the linearity and hysteresis of the motion segments of the human lumbar spine under physiological conditions of axial preload and fluid environment. Also, the stiffness matrices were expressed in the form of an 'equivalent' structure that would give insights into the structural behavior of the spine. Mechanical properties of human cadaveric lumbar L2-3 and L4-5 spinal motion segments were measured in six degrees of freedom by recording forces when each of six principal displacements was applied. Each specimen was tested with axial compressive preloads of 0, 250 and 500 N. The displacements were four slow cycles of +/-0.5mm in anterior-posterior and lateral displacements, +/-0.35 mm axial displacement, +/-1.5 degrees lateral rotation and +/-1 degrees flexion-extension and torsional rotations. There were significant increases with magnitude of preload in the stiffness, hysteresis area (but not loss coefficient) and the linearity of the load-displacement relationship. The mean values of the diagonal and primary off-diagonal stiffness terms for intact motion segments increased significantly relative to values with no preload by an average factor of 1.71 and 2.11 with 250 and 500 N preload, respectively (all eight tests p<0.01). Half of the stiffness terms were greater at L4-5 than L2-3 at higher preloads. The linearized stiffness matrices at each preload magnitude were expressed as an equivalent structure consisting of a truss and a beam with a rigid posterior offset, whose geometrical properties varied with preload. These stiffness properties can be used in structural analyses of the lumbar spine.     

A neural mechanism of synergy formation for whole body reaching

The present study proposes a computational model for the formation of whole body reaching synergy, i.e., coordinated movements of lower and upper limbs, characterized by a focal component (the hand must reach a target) and a postural component (the center of mass must remain inside the support base). The model is based on an extension of the equilibrium point hypothesis that has been called Passive Motion Paradigm (PMP), modified in order to achieve terminal attractor features and allow the integration of multiple constraints. The model is a network with terminal attractor dynamics. By simulating it in various conditions it was possible to show that it exhibits many of the spatio-temporal features found in experimental data. In particular, the motion of the center of mass appears to be synchronized with the motion of the hand and with proportional amplitude. Moreover, the joint rotation patterns can be accounted for by a single functional degree of freedom, as shown by principal component analysis. It is also suggested that recent findings in motor imagery support the idea that the PMP network may represent the motor cognitive part of synergy formation, uncontaminated by the effect of execution.     

Orientation and location of the finite helical axis of the equine forelimb joints

To reduce anatomically unrealistic limb postures in a virtual musculoskeletal model of a horse's forelimb, accurate knowledge on forelimb joint constraints is essential. The aim of this cadaver study is to report all orientation and position changes of the finite helical axes (FHA) as a function of joint angle for different equine forelimb joints. Five horse cadaver forelimbs with standardized cuts at the midlevel of each segment were used. Bone pins with reflective marker triads were drilled into the forelimb bones. Unless joint angles were anatomically coupled, each joint was manually moved independently in all three rotational degrees of freedom (flexion–extension, abduction–adduction, internal–external rotation). The 3D coordinates of the marker triads were recorded using a six infra-red camera system. The FHA and its orientational and positional properties were calculated and expressed against joint angle over the entire range of motion using a finite helical axis method. When coupled, joint angles and FHA were expressed in function of flexion–extension angle. Flexion–extension movement was substantial in all forelimb joints, the shoulder allowed additional considerable motion in all three rotational degrees of freedoms. The position of the FHA was constant in the fetlock and elbow and a constant orientation of the FHA was found in the shoulder. Orientation and position changes of the FHA over the entire range of motion were observed in the carpus and the interphalangeal joints. We report FHA position and orientation changes as a function of flexion–extension angle to allow for inclusion in a musculoskeletal model of a horse to minimize calculation errors caused by incorrect location of the FHA.     

A combined regimen of controlled motion following flexor tendon repair in "no man's land"

A program of controlled motion following repair of flexor tendons in the hand is presented. This regimen incorporates the features of active extension against rubber band passive flexion, as well as those of controlled passive extension and passive flexion. In this prospective study, 44 digits with complete lacerations of the flexor digitorum profundus and flexor digitorum superficialis in zone 2 were treated. Using the Strickland formula of total active motion of the interphalangeal joints, 36 fingers (82 percent) were rated "excellent"; 7 fingers (16 percent) were rated "good"; 1 finger (2 percent) was rated "fair"; none was rated "poor". There was no statistical difference between the results of delayed primary repair and immediate primary repair.     

Structure of the replicating complex of a pol alpha family DNA polymerase

We describe the 2.6 A resolution crystal structure of RB69 DNA polymerase with primer-template DNA and dTTP, capturing the step just before primer extension. This ternary complex structure in the human DNA polymerase alpha family shows a 60 degrees rotation of the fingers domain relative to the apo-protein structure, similar to the fingers movement in pol I family polymerases. Minor groove interactions near the primer 3' terminus suggest a common fidelity mechanism for pol I and pol alpha family polymerases. The duplex product DNA orientation differs by 40 degrees between the polymerizing mode and editing mode structures. The role of the thumb in this DNA motion provides a model for editing in the pol alpha family.     

Finger dexterity, skin temperature, and blood flow during auxiliary heating in the cold.

The primary purpose of the present study was to compare the effectiveness of two forms of hand heating and to discuss specific trends that relate finger dexterity performance to variables such as finger skin temperature (T(fing)), finger blood flow (Q(fing)), forearm skin temperature (T(fsk)), forearm muscle temperature (Tfmus), mean weighted body skin temperature (Tsk), and change in body heat content (DeltaH(b)). These variables along with rate of body heat storage, toe skin temperature, and change in rectal temperature were measured during direct and indirect hand heating. Direct hand heating involved the use of electrically heated gloves to keep the fingers warm (heated gloves condition), whereas indirect hand heating involved warming the fingers indirectly by actively heating the torso with an electrically heated vest (heated vest condition). Seven men (age 35.6 +/- 5.6 yr) were subjected to each method of hand heating while they sat in a chair for 3 h during exposure to -25 degrees C air. Q(fing) was significantly (P < 0.05) higher during the heated vest condition compared with the heated gloves condition (234 +/- 28 and 33 +/- 4 perfusion units, respectively), despite a similar T(fing) (which ranged between 28 and 35 degrees C during the 3-h exposure). Despite the difference in Q(fing), there was no significant difference in finger dexterity performance. Therefore, finger dexterity can be maintained with direct hand heating despite a low Q(fing). DeltaH(b), Tsk, and T(fmus) reached a low of -472 +/- 18 kJ, 28.5 +/- 0.3 degrees C, and 29.8 +/- 0.5 degrees C, respectively, during the heated gloves condition, but the values were not low enough to affect finger dexterity.