Development of a Kinematic Hand Model for Study and Design of Hose Installation

Armstrong, Thomas J.; Best, Christopher; Bae, Sungchan; Choi, Jaewon; Grieshaber, D. Christian; Park, Daewoo; Woolley, Charles; Zhou, Wei

doi:10.1007/978-3-642-02809-0_10

Cited by 11 publications

(11 citation statements)

References 17 publications

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“…Biomechanical models of hands have been used for different applications such as in the design of prosthetic hands, studying disabilities, rehabilitation and functional assessment, and for ergonomic product design (Valero-Cuevas et al 2000;van Nierop et al 2008;Armstrong et al 2009;Fok & Chou 2010;Wu et al 2010;Sancho-Bru et al 2011;Endo et al 2014;Park et al 2014;Peña-Pitarch et al 2014;Harih & Tada 2015;Hemami et al 2016). They simulate segments, joints and other tissues (muscles, tendons, ligaments or even skin) and use ranges of mobility at each joint that cover the full range of angles for each joint, regardless of the posture of other joints.…”

Section: Introductionmentioning

confidence: 99%

Interdependency of the maximum range of flexion–extension of hand metacarpophalangeal joints

Gracia-Ibáñez

Sancho-Bru

2016

Computer Methods in Biomechanics and Biomedical Engineering

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Mobility of the fingers metacarpophalangeal (MCP) joints depends on the posture of the adjacent ones. Current Biomechanical hand models consider fixed ranges of movement at joints, regardless of the posture, thus allowing for non-realistic postures, generating wrong results in reach studies and forward dynamic analyses. This study provides data for more realistic hand models. The maximum voluntary extension (MVE) and flexion (MVF) of different combinations of MCP joints were measured covering their range of motion. Dependency of the MVF and MVE on the posture of the adjacent MCP joints was confirmed and mathematical models obtained through regression analyses (RMSE 7.7°).

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Section: Introductionmentioning

confidence: 99%

Interdependency of the maximum range of flexion–extension of hand metacarpophalangeal joints

Gracia-Ibáñez

Sancho-Bru

2016

Computer Methods in Biomechanics and Biomedical Engineering

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“…The smallest finger joint to be individually controllable is the proximal interphalangeal (PIP) joint, which has an average depth and width of approximately 17 mm [11]. Any other mechanisms should fit inside of the proximal phalanx, the average length of which is approximately 30 mm, excluding the joints [12]. Because of this, the joint locks should be designed to be operable with as little force and stroke as possible.…”

Section: Requirementsmentioning

confidence: 99%

“…In many modern prostheses, the grasp force for precision grasping lies between 5-10 N [9], [10], [13]. With an average finger length of 100 mm [12], this amounts to a maximum locking torque of 1 Nm on the most proximal finger joint.…”

Section: Requirementsmentioning

confidence: 99%

Design of joint locks for underactuated fingers

Peerdeman

Pieterse

Rietman

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Modern multifunctional hand prostheses have many degrees of freedom, but strong limitations on weight and size. The actuators commonly used in these systems are relatively large and heavy, so their number should be kept as low as possible. This is often accomplished by underactuation, which causes a natural motion of the fingers when grasping an object but reduces the ability to execute a variety of grasps. To remedy this, a series of locking mechanisms can be implemented to fix the position of one or more joints. This paper focuses on the development of such a joint locking system that could be used in anthropomorphic prosthetic fingers. Two lock concepts are implemented in a single-joint test setup and evaluated. A gear-based concept is tested, though its actuation requirements prove too high for viable implementation in a prosthesis. A mechanism based on friction amplification is shown to exhibit self-locking properties, which allows for a minimal lock actuation force while withstanding joint torques of over 2 Nm. The friction amplification mechanism is found suitable for prosthesis use, and will be developed further for implementation in a future prosthesis prototype.

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“…Results from these analyses are especially relevant for tool designers and manufacturers, as they can use them to create devices fitted to workers and users of different populations and percentiles, thereby improving work efficiency, comfort, and safety. Anthropometric data are also required for developing three‐dimensional (3D) hand models (Harih & Dolšak, , ; Rogers, Barr, Kasemsontitum, & Rempel, ) and for studying the kinematics of the human hand and developing biomechanical hand models with a wide range of applications that range from workspace design to clinical analysis (Armstrong et al., ; Buchholz, Armstrong, & Goldstein, ; Sancho‐Bru et al., ). Other notable applications of hand anthropometry are the estimation of palm and hand surface areas in toxicology research, thermal physiology, and skin burn studies (Choi et al., ; Hsu & Yu, ; Yu, Yick, Ng, & Yip, ) and the determination of personal parameters (such as sex, age, or stature) in accidents or mass disasters in the forensic field from their correlation with hand dimensions (Agnihotri, Agnihotri, Jeebun, & Googoolye, ; Ishak, Hemy, & Franklin, , ; Kanchan & Krishan, ; Krishan & Sharma, ; Sen, Kanchan, Ghosh, Mondal, & Krishan, ).…”

Section: Introductionmentioning

confidence: 99%

Dorsal and palmar aspect dimensions of hand anthropometry for designing hand tools and protections

Vergara

Agost

2017

Hum Ftrs & Erg Mfg Svc

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Most hand anthropometric studies are performed on the palmar aspect, while dimensions of the dorsal aspect are also useful in ergonomics and hand modeling. A survey of hand anthropometrics for a Spanish population (69 females, 70 males) is presented. Landmarks were selected to compare lengths from the dorsal and palmar aspects and to be useful for hand modeling and ergonomics design. Ninety-nine dimensions of fingers and thumb of the right hand (41 lengths, 32 depths, 26 breadths) were collected, including thumb breadths and depths. Descriptive statistics of all the dimensions are presented. Lengths were measured from both dorsal and palmar aspects and paired lengths compared through t-tests. Significant differences were found in almost all the lengths, showing that databases should explicitly state the aspect (dorsal or palmar) where dimensions have been measured. The data provided are useful for designing tools and hand protections and developing hand models more accurately.

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Development of a Kinematic Hand Model for Study and Design of Hose Installation

Cited by 11 publications

References 17 publications

Interdependency of the maximum range of flexion–extension of hand metacarpophalangeal joints

Interdependency of the maximum range of flexion–extension of hand metacarpophalangeal joints

Design of joint locks for underactuated fingers

Dorsal and palmar aspect dimensions of hand anthropometry for designing hand tools and protections

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