Toward a realistic optoelectronic-based kinematic model of the hand: representing the transverse metacarpal arch reduces accessory rotations of the metacarpophalangeal joints

A kinematic model representing the versatility of the human hand is needed to evaluate biomechanical function and predict injury risk in the workplace. We improved upon an existing optoelectronic-based kinematic hand model with grouped metacarpals by defining segmented metacarpals and adding the trapeziometacarpal joint of the thumb. Eight participants performed three static postures (neutral pose, cylinder grip, cap grip) to evaluate kinematic performance of three different models, with one, two, and four metacarpal segment(s). Mean distal transverse metacarpal arch angles in the four-segment metacarpal model were between 22.0° ± 3.3° (neutral pose) and 32.1° ± 3.7° (cap grip). Representation of the metacarpals greatly influenced metacarpophalangeal joint rotations. Both the two- and four-segment metacarpal models displayed significantly lower metacarpophalangeal joint ‘supination’ angles (than the one-segment model) for the fourth and fifth fingers. However, the largest reductions were for the four- versus one-segment models, with mean differences ranging from 9.3° (neutral pose) to 17.0° (cap grip) for the fourth finger and 16.3° (neutral pose) to 33.0° (cylinder grip) for the fifth finger. MCP joint abduction/adduction angles of the fourth and fifth fingers also decreased with segmentation of the metacarpals, although the lowest magnitudes generally occurred in the four-segment model. Overall, the four-segment metacarpal model produced the lowest accessory rotations in non-dominant axes, and best matched previous radiological studies that found MCP joint pronation/supination angles were typically less than 10°. The four-segment metacarpal model, with improved anatomic fidelity, will better serve future studies of detailed actions of the hand in clinical or work applications.     

Finger joint coordination during tapping

We investigated finger joint coordination during tapping by characterizing joint kinematics and torques in terms of muscle activation patterns and energy profiles. Six subjects tapped with their index finger on a computer keyswitch as if they were typing on the middle row of a keyboard. Fingertip force, keyswitch position, kinematics of the metacarpophalangeal (MCP) and the proximal and distal interphalangeal (IP) joints, and intramuscular electromyography of intrinsic and extrinsic finger muscles were measured simultaneously. Finger joint torques were calculated based on a closed-form Newton–Euler inverse dynamic model of the finger. During the keystroke, the MCP joint flexed and the IP joints extended before and throughout the loading phase of the contact period, creating a closing reciprocal motion of the finger joints. As the finger lifted, the MCP joint extended and the interphalangeal (IP) joints flexed, creating an opening reciprocal motion. Intrinsic finger muscle and extrinsic flexor activities both began after the initiation of the downward finger movement. The intrinsic finger muscle activity preceded both the IP joint extension and the onset of extrinsic muscle activity. Only extrinsic extensor activity was present as the finger was lifted. While both potential energy and kinetic energy are present and large enough to overcome the work necessary to press the keyswitch, the motor control strategies utilize the muscle forces and joint torques to ensure a successful keystroke.     

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.     

A note on the Mulder-Landsmeer phenomenon.

Mulder-Landsmeer phenomenon (inability to activiely straighten the interphalangeal joints fully when the metacarpophalangeal joint of a finger is passively held in maximal hyperextension) was confirmed in the normally hypermobile South Indian fingers. A powerful but limited de-extension of the proximal phalanx was noticied, in normagers, during completion of interphalangeal extension when the metacarpophalangeal joint was passively held in maximal hyperextension...     

Incorporating the length-dependent passive-force generating muscle properties of the extrinsic finger muscles into a wrist and finger biomechanical musculoskeletal model

Dynamic movement trajectories of low mass systems have been shown to be predominantly influenced by passive viscoelastic joint forces and torques compared to momentum and inertia. The hand is comprised of 27 small mass segments. Because of the influence of the extrinsic finger muscles, the passive torques about each finger joint become a complex function dependent on the posture of multiple joints of the distal upper limb. However, biomechanical models implemented for the dynamic simulation of hand movements generally don’t extend proximally to include the wrist and distal upper limb. Thus, they cannot accurately represent these complex passive torques. The purpose of this short communication is to both describe a method to incorporate the length-dependent passive properties of the extrinsic index finger muscles into a biomechanical model of the upper limb and to demonstrate their influence on combined movement of the wrist and fingers. Leveraging a unique set of experimental data, that describes the net passive torque contributed by the extrinsic finger muscles about the metacarpophalangeal joint of the index finger as a function of both metacarpophalangeal and wrist postures, we simulated the length-dependent passive properties of the extrinsic finger muscles. Dynamic forward simulations demonstrate that a model including these properties passively exhibits coordinated movement between the wrist and finger joints, mimicking tenodesis, a behavior that is absent when the length-dependent properties are removed. This work emphasizes the importance of incorporating the length-dependent properties of the extrinsic finger muscles into biomechanical models to study healthy and impaired hand movements.     

Temporal Control and Hand Movement Efficiency in Skilled Music Performance

Skilled piano performance requires considerable movement control to accomplish the high levels of timing and force precision common among professional musicians, who acquire piano technique over decades of practice. Finger movement efficiency in particular is an important factor when pianists perform at very fast tempi. We document the finger movement kinematics of highly skilled pianists as they performed a five-finger melody at very fast tempi. A three-dimensional motion-capture system tracked the movements of finger joints, the hand, and the forearm of twelve pianists who performed on a digital piano at successively faster tempi (7–16 tones/s) until they decided to stop. Joint angle trajectories computed for all adjacent finger phalanges, the hand, and the forearm (wrist angle) indicated that the metacarpophalangeal joint contributed most to the vertical fingertip motion while the proximal and distal interphalangeal joints moved slightly opposite to the movement goal (finger extension). An efficiency measure of the combined finger joint angles corresponded to the temporal accuracy and precision of the pianists’ performances: Pianists with more efficient keystroke movements showed higher precision in timing and force measures. Keystroke efficiency and individual joint contributions remained stable across tempo conditions. Individual differences among pianists supported the view that keystroke efficiency is required for successful fast performance.     

In situ comparison of A-mode ultrasound tracking system and skin-mounted markers for measuring kinematics of the lower extremity

Skin-mounted marker based motion capture systems are widely used in measuring the movement of human joints. Kinematic measurements associated with skin-mounted markers are subject to soft tissue artifacts (STA), since the markers follow skin movement, thus generating errors when used to represent motions of underlying bone segments. We present a novel ultrasound tracking system that is capable of directly measuring tibial and femoral bone surfaces during dynamic motions, and subsequently measuring six-degree-of-freedom (6-DOF) tibiofemoral kinematics. The aim of this study is to quantitatively compare the accuracy of tibiofemoral kinematics estimated by the ultrasound tracking system and by a conventional skin-mounted marker based motion capture system in a cadaveric experimental scenario. Two typical tibiofemoral joint models (spherical and hinge models) were used to derive relevant kinematic outcomes. Intra-cortical bone pins equipped with optical markers were inserted in the tibial and femoral bones to serve as a reference to provide ground truth kinematics. The ultrasound tracking system resulted in lower kinematic errors than the skin-mounted markers (the ultrasound tracking system: maximum root-mean-square (RMS) error 3.44° for rotations and 4.88 mm for translations, skin-mounted markers with the spherical joint model: 6.32° and 6.26 mm, the hinge model: 6.38° and 6.52 mm). Our proposed ultrasound tracking system has the potential of measuring direct bone kinematics, thereby mitigating the influence and propagation of STA. Consequently, this technique could be considered as an alternative method for measuring 6-DOF tibiofemoral kinematics, which may be adopted in gait analysis and clinical practice.     

Finger joint impedance during tapping on a computer keyswitch

We studied the dynamic behavior of finger joints during the contact period of tapping on a computer keyswitch, to characterize and parameterize joint function with a lumped-parameter impedance model. We tested the hypothesis that the metacarpophalangeal (MCP) and interphalangeal (IP) joints act similarly in terms of kinematics, torque, and energy production when tapping. Fifteen human subjects tapped with the index finger of the right hand on a computer keyswitch mounted on a two-axis force sensor, which measured forces in the vertical and sagittal planes. Miniature fiber-optic goniometers mounted across the dorsal side of each joint measured joint kinematics. Joint torques were calculated from endpoint forces and joint kinematics using an inverse dynamic algorithm. For each joint, a linear spring and damper model was fitted to joint torque, position, and velocity during the contact period of each tap (22 per subject on average). The spring-damper model could account for over 90% of the variance in torque when loading and unloading portions of the contact were separated, with model parameters comparable to those previously measured during isometric loading of the finger. The finger joints functioned differently, as illustrated by energy production during the contact period. During the loading phase of contact the MCP joint flexed and produced energy, whereas the proximal and distal IP joints extended and absorbed energy. These results suggest that the MCP joint does work on the interphalangeal joints as well as on the keyswitch.     

An Investigation of the Locomotor Function of Therian Forearm Pronation Provides Renewed Support for an Arboreal,Chameleon-like Evolutionary Stage

Although investigations of forelimb characteristics are central to therian evolutionary studies, the functional origins of forearm pronation are neglected. However, recent research based on bipedal manipulations strongly suggests that proximal radioulnar joint mobility is highly conserved in tetrapods. This new information calls for a replication of previously published physical simulations of forearm bone movements, to investigate whether active therian pronation/supination evolved from the plesiomorphic mechanism via which locomotor-induced torsion is passively alleviated during forelimb retraction. Preliminary results using representative extant and extinct tetrapod forelimb elements are supportive, and also offer insight into why another overlooked forearm trait, osteological full pronation (mechanically aligned elbow and wrist/finger joints), evolved only in therians and chameleons. During forelimb retraction in tetrapods with unfused radii/ulnae, the radius unexpectedly remains fixed in place as a functional complex with the firmly planted manus/carpus, which the ulnar complex (ulna/humerus) displaces relative to. Therefore, the highly conserved functional morphology of the tetrapod forearm indicates that enhanced therian manual dexterity, which emphasizes isolated radial movements bipedally, was preceded by the locomotor evolution of ulnar supination relative to the radius quadrupedally. This counterintuitive information indicates that the traditional hypothesis, that therian pronation/supination evolved arboreally to amplify radial mobility, requires modification. The authors propose that proximal long-axis rotations of the therian ulnar complex co-evolved with osteological full pronation during a period of arboreal, chameleon-like locomotion, to continue allowing torsion at a reinforced proximal radioulnar joint. These adaptations were later or simultaneously co-opted for object manipulation using active radioulnar pronation/supination.     

Kinematic evaluation of the finger’s interphalangeal joints coupling mechanism—variability,flexion–extension differences,triggers, locking swanneck deformities,anthropometric correlations

The human finger contains tendon/ligament mechanisms essential for proper control. One mechanism couples the movements of the interphalangeal joints when the (unloaded) finger is flexed with active deep flexor. This study’s aim was to accurately determine in a large finger sample the kinematics and variability of the coupled interphalangeal joint motions, for potential clinical and finger model validation applications. The data could also be applied to humanoid robotic hands. Sixty-eight fingers were measured in seventeen hands in nine subjects. Fingers exhibited great joint mobility variability, with passive proximal interphalangeal hyperextension ranging from zero to almost fifty degrees. Increased measurement accuracy was obtained by using marker frames to amplify finger segment motions. Gravitational forces on the marker frames were not found to invalidate measurements. The recorded interphalangeal joint trajectories were highly consistent, demonstrating the underlying coupling mechanism. The increased accuracy and large sample size allowed for evaluation of detailed trajectory variability, systematic differences between flexion and extension trajectories, and three trigger types, distinct from flexor tendon triggers, involving initial flexion deficits in either proximal or distal interphalangeal joint. The experimental methods, data and analysis should advance insight into normal and pathological finger biomechanics (e.g., swanneck deformities), and could help improve clinical differential diagnostics of trigger finger causes. The marker frame measuring method may be useful to quantify interphalangeal joints trajectories in surgical/rehabilitative outcome studies. The data as a whole provide the most comprehensive collection of interphalangeal joint trajectories for clinical reference and model validation known to us to date.     

Influence of landing on the supination and pronation in the foot joint

The purpose of this study was to measure the changes of supination and pronation in the ankle joint at landing to quantify the influence of shock attenuation during landing. The subjects did two different motions, jumping down on the force platform from posterior and lateral views. The rear view of single foot contact in a jump from height of 30 and 60 cm showed a landing on the inside of the rear part of the foot (pronation) followed after about 0.03 sec by a rolling outward of the foot (supination). The variables describing changes in three angles of the ankle joint indicated that the standing position was more sensitive on the pronation and supination during ground contact.     

A multi-segment kinematic model of the foot with a novel definition of forefoot motion for use in clinical gait analysis during walking

A multi-segment kinematic model of the foot was developed for use in a gait analysis laboratory. The foot was divided into hindfoot, talus, midfoot and medial and lateral forefoot segments. Six functional joints were defined: ankle and subtalar joints, frontal and transverse plane motions of the hindfoot relative to midfoot, supination/pronation twist of the forefoot relative to midfoot and medial longitudinal arch height-to-length ratio. Twelve asymptomatic subjects were tested during barefoot walking with a six-camera optical stereometric system and auto-reflective markers organized in triads. Repeatability of the joint motions was tested using coefficients of multiple correlation. Ankle and subtalar joint motions and twisting of the forefoot were most repeatable. Hindfoot motions were least repeatable both within-subjects and between-subjects. Hindfoot and forefoot pronation in the frontal plane was found to coincide with dropping of the medial longitudinal arch between early to mid-stance, followed by supination and rising of the arch in late stance and swing phase. This multi-segment foot model addresses an unfortunate shortcoming in current gait analysis practice-the inability to measure motion within the foot. Such measurements are crucial if gait analysis is to remain relevant in the orthopaedic and rehabilitative treatment of the foot and ankle.     

Technical note: a multi-dimensional description of knee laxity using radial basis functions

The net laxity of the knee is a product of individual ligament structures that provide constraint for multiple degrees of freedom (DOF). Clinical laxity assessments are commonly performed along a single axis of motion, and lack analyses of primary and coupled motions in terms of translations and rotations of the knee. Radial basis functions (RBFs) allow multiple DOF to be incorporated into a single method that accounts for all DOF equally. To evaluate this method, tibiofemoral kinematics were experimentally collected from a single cadaveric specimen during a manual laxity assessment. A radial basis function (RBF) analysis was used to approximate new points over a uniform grid space. The normalized root mean square errors of the approximated points were below 4% for all DOF. This method provides a unique approach to describing joint laxity that incorporates multiple DOF in a single model.     

A method for in-vivo kinematic analysis of the forearm

PURPOSE: To develop a method for in-vivo kinematic study of normal forearm rotation using computed tomographic (CT) images and a custom apparatus which allows for control of amount of forearm rotation. METHODS: The forearm of one asymptomatic volunteer was CT-scanned in five positions: neutral, 60 degrees pronation, maximal pronation, 60 degrees supination, and maximal supination. Surface registration of the pronated/supinated image datasets with the neutral position was performed. The resulting transformation matrices were decomposed into finite helical axis (FHA) parameters. Kinematics were expressed as motion of the radius relative to the ulna. RESULTS: The axes of the forearm passed through the volar region of the radial head at the proximal radioulnar joint (PRUJ), extending towards the dorsal region of the ulnar head at the distal radioulnar joint (DRUJ). Distinct FHAs were calculated for each forearm position analyzed relative to neutral rotation. Forearm pronation FHAs were different from forearm supination FHAs. CONCLUSIONS: Our experimental methodology is capable of describing the in-vivo kinematics of the forearm with good accuracy and reliability. Future in-vivo studies would need to be performed using a larger sample size to further validate our preliminary results. An ideal clinical application of this methodology would be in the comparative study of patients with forearm dysfunction.     

Grip pattern and finger coordination differences between pianists and non-pianists

The aim of this study was to assess differences of grip pattern and finger coordination in pianists and non-pianists, using hand tasks that were unrelated to pianistic practice. Eleven pianists with more than 10 years of intensive practice were compared to 14 non-pianists. Both groups performed four tasks with their right hand: (1) gross grip at fast velocity; (2) gross grip at slow velocity; (3) hook grip at fast velocity; and (4) hook grip at slow velocity. The three-dimensional coordinates were reconstructed using a kinematic analysis system, and the flexion and extension angles of the metacarpophalangeal joints were calculated. The phase diagrams were qualitatively and quantitatively appraised in order to identify differences between the groups. Principal component analysis was used to assess differences between pianists and non-pianists in terms of the reproducibility and regularity of palmar grip cycles. Coefficients of correlation between the joint angles were used to analyze finger coordination during the tasks. The pianists showed better reproducibility and regularity in the palmar grip pattern, as well as finger movements that were more coordinated when performing different hand tasks.     

Accuracy of biplane videoradiography for quantifying dynamic wrist kinematics

Accurately assessing the dynamic kinematics of the skeletal wrist could advance our understanding of the normal and pathological wrist. Biplane videoradiography (BVR) has allowed investigators to study dynamic activities in the knee, hip, and shoulder joint; however, currently, BVR has not been utilized for the wrist joint because of the challenges associated with imaging multiple overlapping bones. Therefore, our aim was to develop a BVR procedure and to quantify its accuracy for evaluation of wrist kinematics. BVR was performed on six cadaveric forearms for one neutral static and six dynamic tasks, including flexion-extension, radial-ulnar deviation, circumduction, pronation, supination, and hammering. Optical motion capture (OMC) served as the gold standard for assessing accuracy. We propose a feedforward tracking methodology, which uses a combined model of metacarpals (second and third) for initialization of the third metacarpal (MC3). BVR-calculated kinematic parameters were found to be consistent with the OMC-calculated parameters, and the BVR/OMC agreement had submillimeter and sub-degree biases in tracking individual bones as well as the overall joint’s rotation and translation. All dynamic tasks (except pronation task) showed a limit of agreement within 1.5° for overall rotation, and within 1.3 mm for overall translations. Pronation task had a 2.1° and 1.4 mm limit of agreement for rotation and translation measurement. The poorest precision was achieved in calculating the pronation-supination angle, and radial-ulnar and volar-dorsal translational components, although they were sub-degree and submillimeter. The methodology described herein may assist those interested in examining the complexities of skeletal wrist function during dynamic tasks.     

A three-dimensional analysis of finger and bow string movements during the release in archery

The aim of this paper was to examine finger and bow string movements during archery by investigating a top Austrian athlete (FITA score = 1233) under laboratory conditions. Maximum lateral bow string deflection and angular displacements for index, third, and ring fingers between the full draw position and the end of the release were quantified using a motion tracking system. Stepwise multiple regression analyses were used to determine whether bow string deflection and finger movements are predictive for scoring. Joint ranges of motion during the shot itself were large in the proximal and distal interphalangeal joints, and much smaller in the metacarpophalangeal joints. Contrary to our expectations, greater deflection leads to higher scores (R2 = .18, p < .001) and the distal interphalangeal joint of the third finger weakly predicts the deflection (R2 = .11, p < .014). More variability in the joint angles of the third finger was found in bad shots than in good shots. Findings in this study let presume that maximum lateral bow string deflection does not adversely affect the archer's performance.     

A mechanical supination sprain simulator for studying ankle supination sprain kinematics

This study presents a free-fall mechanical supination sprain simulator for evaluating the ankle joint kinematics during a simulated ankle supination sprain injury. The device allows the foot to be in an anatomical position before the sudden motion, and also allows different degrees of supination, or a combination of inversion and plantarflexion. Five subjects performed simulated supination sprain trials in five different supination angles. Ankle motion was captured by a motion analysis system, and the ankle kinematics were reported in plantarflexion/dorsiflexion, inversion/eversion and internal/external rotation planes. Results showed that all sprain motions were not pure single-plane motions but were accompanied by motion in other two planes, therefore, different degrees of supination were achieved. The presented sprain simulator allows a more comprehensive study of the kinematics of ankle sprain when compared with some previous laboratory research designs.     

A three-pressure-sensor (3PS) system for monitoring ankle supination torque during sport motions

This study presented a three-pressure-sensor (3PS) system for monitoring ankle supination torque during sport motions. Five male subjects wore a pair of cloth sport shoes and performed 10 trials of walking, running, cutting, vertical jump-landing and stepping-down motions in a random sequence. A pair of pressure insoles (Novel Pedar model W, Germany) was inserted in the shoes for the measurement of plantar pressure at 100Hz. The ankle joint torque was calculated by a standard lower extremity inverse dynamic calculation procedure with the data obtained by a motion capture system (VICON, UK) and a force plate (AMTI, USA), and was presented in a supination/pronation plane with an oblique axis of rotation at the ankle joint. Stepwise linear regression analysis suggested that pressure data at three locations beneath the foot were essential for reconstructing the ankle supination torque. Another group of five male subjects participated in a validation test with the same procedure, but with the pressure insoles replaced by the 3PS system. Estimated ankle supination torque was calculated from the equation developed by the regression analysis. Results suggested that the correlation between the standard and estimated data was high (R=0.938). The overall root mean square error was 6.91Nm, which was about 6% of the peak values recorded in the five sport motions (113Nm). With the good estimation accuracy, tiny size and inexpensive cost, the 3PS system is readily available to be implanted in sport shoe for the estimation and monitoring of ankle supination torque during dynamic sport motions.     

Tendon displacements during voluntary and involuntary finger movements

In the human hand, independent movement control of individual fingers is limited. One potential cause for this is mechanical connections between the tendons and muscle bellies corresponding to the different fingers. The aim of this study was to determine the tendon displacement of the flexor digitorum superficialis (FDS) of both the instructed and the neighboring, non-instructed fingers during single finger flexion movements. In nine healthy subjects (age 22–29 years), instructed and non-instructed FDS finger tendon displacement of the index, middle and ring finger was measured using 2D ultrasound analyzed with speckle tracking software in two conditions: active flexion of all finger joints with all fingers free to move and active flexion while the non-instructed fingers were restricted. Our results of the free movement protocol showed an average tendon displacement of 27 mm for index finger flexion, 21 mm for middle finger flexion and 17 mm for ring finger flexion. Displacements of the non-instructed finger tendons (≈12 mm) were higher than expected based of the amount of non-instructed finger movement. In the restricted protocol, we found that, despite minimal joint movements, substantial non-instructed finger tendon displacement (≈9 mm) was still observed, which was interpreted as a result of tendon strain. When this strain component was subtracted from the tendon displacement of the non-instructed fingers during the free movement condition, the relationship between finger movement and tendon displacement of the instructed and non-instructed finger became comparable. Thus, when studying non-instructed finger tendon displacement it is important to take tendon strain into consideration.