A kinematic model of the human hand to evaluate its prehensile capabilities
dc.contributor.author | Buchholz, Bryan | en_US |
dc.contributor.author | Armstrong, Thomas J. | en_US |
dc.date.accessioned | 2006-04-10T15:20:35Z | |
dc.date.available | 2006-04-10T15:20:35Z | |
dc.date.issued | 1992-02 | en_US |
dc.identifier.citation | Buchholz, Bryan, Armstrong, Thomas J. (1992/02)."A kinematic model of the human hand to evaluate its prehensile capabilities." Journal of Biomechanics 25(2): 149-162. <http://hdl.handle.net/2027.42/30224> | en_US |
dc.identifier.uri | http://www.sciencedirect.com/science/article/B6T82-4C0CSYT-4K/2/27a54fc27b51ebb0ba51c523095b9681 | en_US |
dc.identifier.uri | https://hdl.handle.net/2027.42/30224 | |
dc.identifier.uri | http://www.ncbi.nlm.nih.gov/sites/entrez?cmd=retrieve&db=pubmed&list_uids=1733991&dopt=citation | en_US |
dc.description.abstract | A kinematic model has been developed for simulation and prediction of the prehensile capabilities of the human hand. The kinematic skeleton of the hand is characterized by ideal joints and simple segments. Finger-joint angulation is characterized by yaw (abduction-adduction), pitch (flexion-extension) and roll (axial rotation) angles. The model is based on an algorithm that determines contact between two ellipsoids, which are used to approximate the geometry of the cutaneous surface of the hand segments. The model predicts the hand posture (joint angles) for power grasp of ellipsoidal objects by `wrapping' the fingers around the object. Algorithms for two grip types are included: (1) a transverse volar grasp, which has the thumb abducted for added power; and (2) a diagonal volar grasp, which has the thumb adducted for an element of precision. Coefficients for estimating anthropometric parameters from hand length and breadth are incorporated in the model. Graphics procedures are included for visual display of the model. In an effort to validate the predictive capabilities of the model, joint angles were measured on six subjects grasping circular cylinders of various diameters and these measured joint angles were compared with angles predicted by the model. Sensitivity of the model to the various input parameters was also determined. On an average, the model predicted joint flexion angles that were 5.3% or 2.8[deg] +/- 12.2[deg] larger than the measured angles. Good agreement was found for the MCP and PIP joints, but results for DIP were more variable because of its dependence on the predictions for the proximal joints. | en_US |
dc.format.extent | 1710898 bytes | |
dc.format.extent | 3118 bytes | |
dc.format.mimetype | application/pdf | |
dc.format.mimetype | text/plain | |
dc.language.iso | en_US | |
dc.publisher | Elsevier | en_US |
dc.title | A kinematic model of the human hand to evaluate its prehensile capabilities | en_US |
dc.type | Article | en_US |
dc.rights.robots | IndexNoFollow | en_US |
dc.subject.hlbsecondlevel | Kinesiology and Sports | en_US |
dc.subject.hlbsecondlevel | Surgery and Anesthesiology | en_US |
dc.subject.hlbsecondlevel | Internal Medicine and Specialties | en_US |
dc.subject.hlbtoplevel | Health Sciences | en_US |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationum | Department of Environmental and Industrial Health, The University of Michigan, Ann Arbor, MI, U.S.A. | en_US |
dc.contributor.affiliationother | Department of Work Environment, University of Massachusetts Lowell, Lowell, MA, U.S.A. | en_US |
dc.identifier.pmid | 1733991 | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/30224/1/0000616.pdf | en_US |
dc.identifier.doi | http://dx.doi.org/10.1016/0021-9290(92)90272-3 | en_US |
dc.identifier.source | Journal of Biomechanics | en_US |
dc.owningcollname | Interdisciplinary and Peer-Reviewed |
Files in this item
Remediation of Harmful Language
The University of Michigan Library aims to describe library materials in a way that respects the people and communities who create, use, and are represented in our collections. Report harmful or offensive language in catalog records, finding aids, or elsewhere in our collections anonymously through our metadata feedback form. More information at Remediation of Harmful Language.
Accessibility
If you are unable to use this file in its current format, please select the Contact Us link and we can modify it to make it more accessible to you.