A novel method for in-vivo evaluation of finger kinematics including definition of healthy motion patterns

The Evaluation of a Flexor Digitorum Profundus-to-Volar Plate Zone I Repair Versus Button Repair: An In Vitro Biomechanics Study

PURPOSE

The purpose of the study was to evaluate joint kinematics and tendon work of flexion (WOF) following a flexor digitorum profundus (FDP)-to-volar plate (VP) repair technique relative to a pullout button for zone I flexor tendon injuries.

METHODS

Fourteen digits were tested using an in vitro active finger motion simulator under 3 repaired conditions following a simulated zone I avulsion: button, FDP-VP, and "no slack" FDP-VP (corrected for additional VP length). Outcome metrics included active joint range of motion (ROM), fingertip strength, FDP and flexor digitorum superficialis tensile loads, and WOF.

RESULTS

The button and FDP-VP techniques restored WOF to the intact condition for FDP and flexor digitorum superficialis. All repairs restored distal interphalangeal joint ROM and kinematics to the intact condition. Similarly, all repairs restored WOF; however, the "no slack" FDP-VP significantly increased WOF by 10% to 12% over the simple FDP-VP repair. The button technique had similar fingertip strength to the intact condition, whereas the FDP-VP repairs significantly reduced peak fingertip strength from intact, albeit only 1-2 N compared with the button repair.

CONCLUSION

In this in vitro cadaveric model, the button and FDP-VP techniques restored WOF and ROM to within intact levels, with no difference between these repairs in all measured outcome metrics.

CLINICAL RELEVANCE

Based on its initial strength and its equal biomechanical performance compared with the button repair, the FDP-VP technique may be a viable option for treating FDP avulsions.

Motion Analysis of the Wrist and Finger Joints in Sport Climbing

Climbing is a fast-growing sport, with one of the most common injuries being a rupture of the finger flexor tendon pulley. The strain on pulleys increases as finger joints flex. However, to our knowledge, no study has conducted a kinematic analysis of climbers' fingers. Thus, this study aimed to examine finger kinematics during typical climbing tasks. Eleven elite climbers performed a sequence of four climbing moves, which were recorded by an optical motion capture system. Participants used crimp, half-crimp, and open-hand grips for three trials each, with the fourth condition involving campusing using any grip except crimp. Mean proximal interphalangeal joint (PIP) flexion during the holding phase was 87° (SD 12°), 70° (14°) and 39° (27°) for the crimp, half-crimp and open-hand grip, respectively. Hence, inter-individual PIP flexion ranges overlap between different gripping conditions. Two different movement patterns emerged in the open-hand grip, possibly influenced by the use of the little finger, leading to varying degrees of flexion in the middle and ring fingers. Avoiding little finger usage in the open-hand grip may reduce load during pulley rupture rehabilitation. The implications of PIP joint angle variability on individual pulley injury risk or prevention warrant further investigation. Motion capture proved effective for understanding finger kinematics during climbing and could guide future studies on pulley injury risk factors.

A Novel Low-Pressure Robotic Glove Based on CT-Optimized Finger Joint Kinematic Model for Long-Term Rehabilitation of Stroke Patients

Wearing robotic gloves has become increasingly crucial for hand rehabilitation in stroke patients. However, traditional robotic gloves can exert additional pressure on the hand, such as prolonged use leading to poor blood circulation and muscle stiffness. To address these concerns, this work analyzes the finger kinematic model based on computerized tomography (CT) images of human hands, and designs a low-pressure robotic glove that conforms to finger kinematic characteristics. Firstly, physiological data on finger joint flexion and extension were collected through CT scans. The equivalent rotation centers of finger joints were obtained using the SURF and RANSAC algorithms. Furthermore, the trajectory of finger joint end and the correlation equation of finger joint motion were fitted, and a comprehensive finger kinematic model was established. Based on this finger kinematic model, a novel under-actuated exoskeleton mechanism was designed using a human-machine integration approach. The novel robotic glove fully aligns with the equivalent rotation centers and natural motion trajectories of the fingers, exerting minimal and evenly distributed dynamic pressure on the fingers, with a theoretical static pressure value of zero. Experiments involving gripping everyday objects demonstrated that the novel robotic glove significantly reduces the overall pressure on the fingers during grasping compared to the pneumatic glove and the traditional exoskeleton robotic glove. It is suitable for long-term use by stroke patients for rehabilitation training.

A system for automated acquisition of digital flexion using a 3-D camera and custom gantry

Introduction

Automated measurement of digital range of motion (ROM) may improve the accuracy of reporting and increase clinical efficiency. We hypothesize that a 3-D camera on a custom gantry will produce ROM measurements similar to those obtained with a manual goniometer.

Methods

A 3-D camera mounted on a custom gantry, was mechanized to rotate 200° around a platform. The video was processed to segment each digit and calculate joint angles in people with no history of any hand conditions or surgery to validate the system. A second-generation prototype was then assessed in people with different hand conditions. Metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joint flexion were measured repeatedly with a goniometer and the automated system. The average difference between manual and automatic measurements was calculated along with intraclass correlation coefficients (ICC).

Results

In the initial validation, 1,488 manual and 1,488 automated joint measurements were obtained and the measurement algorithm was refined. In people with hand conditions, 688 manual and 688 automated joint measurements were compared. Average acquisition time was 7 s per hand, with an additional 2-3 s required for data processing. ICC between manual and automated data in the clinical study ranged from 0.65 to 0.85 for the MCP joints, and 0.22 to 0.66 for PIP joints.

Discussion

The automated system resulted in rapid data acquisition, with reliability varying by type of joint and location. It has the potential to improve efficiency in the collection of physical exam findings. Further developments of the system are needed to measure thumb and distal phalangeal motions.

Comparison of finger kinematics between patients with hand osteoarthritis and healthy participants with and without joint protection programs

STUDY DESIGN

This is a cross-sectional, clinical observational study.

BACKGROUND

Finger range of motion (ROM) and functional performance are critical in many daily activities. Hand osteoarthritis (H-OA) is a prevalent disease that impairs both variables. Little quantitative research has been performed on finger kinematics during activities of daily living (ADLs) across health status and method of performance (with or without joint protection programs).

PURPOSE

The purpose of this research is to examine the effects of H-OA and method of performance on ROM in the thumb, index, and middle digits (flexion/extension and abduction/adduction) during ADLs.

METHODS

This study was conducted using 10 healthy participants (mean age: 28 years) and nine participants with H-OA (mean age: 72 years). All participants performed baseline ROM movements followed by 9 activities of daily living. These activities involved prehension type grasps and were performed with and without the recommended joint protection procedures specific to each task. Thumb IP and MCP, index distal interphalengeal (DIP) and proximal interphalengeal (PIP), and middle DIP and PIP joints were continuously recorded using an electromagnetic tracking system for ROM analysis.

RESULTS

Participants with H-OA had a statistically significant decrease in ROM when comparing values measured in the healthy cohort during active ROM (25° decrease) and ADL ROM (25° decrease) in the flex/ext direction. Similarly, following joint protection instruction, a statistically significant decrease in ROM was found during tasks in the flex/ext direction (healthy participant decrease in ROM: 17°, H-OA decrease in ROM:10°) CONCLUSIONS: This study demonstrated that people with hand arthritis move through a smaller arc of motion when performing some functional tasks as compared with the controls, and that with instruction on joint protection techniques, participants made significant changes in the amount of movement used to perform tasks, which supports a proof of principle of joint protection.

Hand Measurement System Based on Haptic and Vision Devices towards Post-Stroke Patients

Diagnostics of a hand requires measurements of kinematics and joint limits. The standard tools for this purpose are manual devices such as goniometers which allow measuring only one joint simultaneously, making the diagnostics time-consuming. The paper presents a system for automatic measurement and computer presentation of essential parameters of a hand. Constructed software uses an integrated vision system, a haptic device for measurement, and has a web-based user interface. The system provides a simplified way to obtain hand parameters, such as hand size, wrist, and finger range of motions, using the homogeneous-matrix-based notation. The haptic device allows for active measurement of the wrist's range of motion and additional force measurement. A study was conducted to determine the accuracy and repeatability of measurements compared to the gold standard. The system functionality was confirmed on five healthy participants, with results showing comparable results to manual measurements regarding fingers' lengths. The study showed that the finger's basic kinematic structure could be measured by a vision system with a mean difference to caliper measurement of 4.5 mm and repeatability with the Standard Deviations up to 0.7 mm. Joint angle limits measurement achieved poorer results with a mean difference to goniometer of 23.6º. Force measurements taken by the haptic device showed the repeatability with a Standard Deviation of 0.7 N. The presented system allows for a unified measurement and a collection of important parameters of a human hand with therapist interface visualization and control with potential use for post-stroke patients' precise rehabilitation.

A method for measuring in vivo finger kinematics using electromagnetic tracking

Accurate in vivo measurement of finger joint kinematics is important for evaluation of treatment methods, implant designs, and for the development and validation of computer models of the hand. The main objective of this project was to develop a standardized finger kinematic measurement system employing electromagnetic (EM) tracking to measure in vivo finger motion pathways. A landmark digitization protocol was developed and used in vivo, in a biomechanical study using EM trackers secured to the finger segments. In vivo results for finger flexion/extension showed no significant differences between EM and goniometer results, 5°±3°; p = 0.735.

A contactless method to measure real-time finger motion using depth-based pose estimation

BACKGROUND

Finger mobility plays a crucial role in everyday living and is a leading indicator during hand rehabilitation and assistance tasks. Depth-based hand pose estimation is a potentially low-cost solution for the clinical and home-based measurement of symptoms of limited human finger motion.

OBJECTIVE

The purpose of this study was to achieve the contactless measurement of finger motion based on depth-based hand pose estimation using Azure Kinect depth cameras and transfer learning, and to evaluate the accuracy in comparison with a three-dimensional motion analysis (3DMA) system.

METHODS

Thirty participants performed a series of tasks during which their hand motions were measured concurrently using the Azure Kinect and 3DMA systems. We propose a simple and effective approach to achieving real-time hand pose estimations from single depth images using ensemble convolutional neural networks trained by a transfer learning strategy. Algorithms to calculate the finger joint motion angles are presented by tracking the locations of the 24 hand joints. To demonstrate their potential, the Azure-Kinect-based 3D finger motion measurement system and algorithms are experimentally verified through comparison with a camera-based 3DMA system, which is the gold standard.

RESULTS

Our results revealed that the Azure-Kinect-based hand pose estimation system produced highly correlated measurements of hand joint coordinates. Our method achieved excellent performance in terms of the fraction of good frames ( >80%) when the error thresholds were larger than approximately 2 cm, and the range of mean error distance was 0.23--1.05 cm. For joint angles, the Azure Kinect and 3DMA systems had comparable inter-trial reliability (ICC_2,1 ranging from 0.89 to 0.97) and excellent concurrent validity, with Pearsons r-values >0.90 for most measurements (range: 0.88--0.97). The 95% BlandAltman limits of agreement were narrow enough for the Azure Kinect to be considered a valid tool for the measurement of all reported joint angles of the index finger and thumb in pinching. Moreover, our method runs in real time at over 45 fps.

CONCLUSION

The results of this study suggest that the proposed method has the capacity to measure the performance of fine motor skills.

Quantitative analysis of metacarpophalangeal joints during active flexion using four-dimensional computed tomography

BACKGROUND

The metacarpophalangeal joint has a unique morphology with a high degree of freedom. However, few studies have analyzed the kinematics of fingers owing to the rapid movement of the small bones involved. The in-vivo kinematics of metacarpophalangeal joints were analyzed by four-dimensional computed tomography (4DCT) and associated with its morphology.

METHODS

The flexion motion of the fingers of bilateral hands in 10 volunteers were examined using 4DCT. Iterative surfaces were registered to trace the surface of the proximal phalanges with respect to metacarpals. Rotation angles were calculated using Euler/Cardan angles.

FINDINGS

In the index finger, the proximal phalange supinated to a maximum flexion of 40° and then pronated, and its range of rotation was larger than the previous reports. In the other fingers, the proximal phalanges continued to supinate during flexion. The helical axis of the proximal phalange passed a point extremely close to the center point of bilateral condyles, and it moved toward the proximal and palmar directions until the middle stage of flexion and toward the proximal and dorsal directions during the late stage of flexion. The translation of the rotation axis was larger in the ring and little fingers.

INTERPRETATION

The rotation in the index finger was larger than previously reported. The helical axes moved in the dorsal direction and proximally during the latter phase of the flexion. These results can be employed to better understand the causes of implant failure of the metacarpophalangeal joints.

Hand Kinematics Characterization While Performing Activities of Daily Living Through Kinematics Reduction

Improving the understanding of hand kinematics during the performance of activities of daily living may help improve the control of hand prostheses and hand function assessment. This work identifies sparse synergies (each degree of freedom is present mainly in only one synergy), representative of the global population, with emphasis in unveiling the coordination of joints with small range of motion (palmar arching and fingers abduction). The study is the most complete study described in the literature till now, involving 22 healthy subjects and 26 representative day-to-day life activities. Principal component analysis was used to reduce the original 16 angles recorded with an instrumented glove. Five synergies explained 75% of total variance: closeness (coordinated flexion and abduction of metacarpophalangeal finger joints), digit arching (flexion of proximal interphalangeal joints), palmar-thumb coordination (coordination of palmar arching and thumb carpometacarpal flexion), thumb opposition, and thumb arch. The temporal evolution of these synergies is provided during reaching per intended grasp and during manipulation per specific task, which could be used as normative patterns for the global population. Reaching has been observed to require the modulation of closeness, digit arch and thumb opposition synergies, with different control patterns per grasp. All the synergies are very important during manipulation and need to be modulated for all the tasks. Finally, groups of tasks with similar kinematic requirements in terms of synergies have been identified, which could benefit the selection of tasks for rehabilitation and hand function assessments.

Sharing of hand kinematic synergies across subjects in daily living activities

The motor system is hypothesised to use kinematic synergies to simplify hand control. Recent studies suggest that there is a large set of synergies, sparse in degrees of freedom, shared across subjects, so that each subject performs each action with a sparse combination of synergies. Identifying how synergies are shared across subjects can help in prostheses design, in clinical decision-making or in rehabilitation. Subject-specific synergies of healthy subjects performing a wide number of representative daily living activities were obtained through principal component analysis. To make synergies comparable between subjects and tasks, the hand kinematics data were scaled using normative range of motion data. To obtain synergies sparse in degrees of freedom a rotation method that maximizes the sum of the variances of the squared loadings was applied. Resulting synergies were clustered and each cluster was characterized by a core synergy and different indexes (prevalence, relevance for function and within-cluster synergy similarity), substantiating the sparsity of synergies. The first two core synergies represent finger flexion and were present in all subjects. The remaining core synergies represent coordination of the thumb joints, thumb-index joints, palmar arching or fingers adduction, and were employed by subjects in different combinations, thus revealing different subject-specific strategies.

Complex thumb motions and their potential clinical value in identifying early changes in function

BACKGROUND

Early diagnosis and treatment of osteoarthritis of the thumb allows for early interventions that may mitigate osteoarthritis progression and decrease severity later in life. Early identification of motion changes is limited by the clinical reliance on single planar measurements using goniometry. Multi-planar measurements using motion capture can provide insights into joint function and pathophysiology that cannot be obtained from single-plane goniometry measurements. Thus, the goals of this research were 1) to determine differences in thumb motions across three groups of participants (young healthy (n = 23), older healthy (n = 11), and those with carpometacarpal osteoarthritis (n = 24)) and 2) to determine if multi-planar motions provided additional movement information in comparison to standard planar measures.

METHODS

In this study, a motion capture system was used to collect standard clinical ranges of motion and complex multi-planar tasks. Differences in motion patterns due to aging and osteoarthritis were identified. Motions tested included palmar adduction-abduction, radial adduction-abduction, metacarpophalangeal flexion-extension, interphalangeal flexion-extension, functional adduction-abduction, opposition, and circumduction.

FINDINGS

Results indicated that motion capture was capable of detecting changes in carpometacarpal mobility that were not detected using standard approaches. Our results suggested that use of multi-planar measurements have the potential to identify changes that are indicators of early stages of osteoarthritis.

INTERPRETATION

Early indicators are clinically useful as they will enhance patient treatment by permitting the application of treatment approaches sooner, potentially leading to reduced overall functional deficits.

Quantifying Soft Tissue Artefacts and Imaging Variability in Motion Capture of the Fingers

This study assessed the accuracy of marker-based kinematic analysis of the fingers, considering soft tissue artefacts (STA) and marker imaging uncertainty. We collected CT images of the hand from healthy volunteers with fingers in full extension, mid- and full-flexion, including motion capture markers. Bones and markers were segmented and meshed. The bone meshes for each volunteer's scans were aligned using the proximal phalanx to study the proximal interphalangeal joint (PIP), and using the middle phalanx to study the distal interphalangeal joint (DIP). The angle changes between positions were extracted. The HAWK protocol was used to calculate PIP and DIP joint flexion angles in each position based on the marker centroids. Finally the marker locations were 'corrected' relative to the underlying bones, and the flexion angles recalculated. Static and dynamic marker imaging uncertainty was evaluated using a wand. A strong positive correlation was observed between marker- and CT-based joint angle changes with 0.980 and 0.892 regression slopes for PIP and DIP, respectively, and Root Mean Squared Errors below 4°. Notably for the PIP joint, correlation was worsened by STA correction. The 95% imaging uncertainty interval was < ± 1° for joints, and < ± 0.25 mm for segment lengths. In summary, the HAWK marker set's accuracy was characterised for finger joint flexion angle changes in a small group of healthy individuals and static poses, and was found to benefit from skin movements during flexion.

Minimal detectable difference of the finger and wrist range of motion: comparison of goniometry and 3D motion analysis

Background

The measurement of finger and wrist range of motion (ROM) is of great importance to clinicians when assessing functional outcomes of therapeutic interventions and surgical procedures. The purpose of the study was to assess the repeatability of ROM measurements of the hand joints with manual goniometer and 3D motion capture system and to calculate the minimal detectable difference for both methods.

Methods

Active finger and wrist joints ROM of 20 healthy volunteers were assessed using a manual goniometer and 3D motion capture system. Minimal detectable difference (MDD) and standard error of measurement (SEM) were calculated for both measurement systems and compared within the same task. Maximal ROM of all joints was registered twice on two different days to evaluate the test-retest repeatability. The intraclass correlation coefficients (ICC) was calculated and examined to determine if reliability ≥ 0.70 existed.

Results

MDD for the 3D motion capture was between 5 and 12° except for the metacarpophalangeal joint (MCP) 1, interphalangeal joint (IP), and MCP5. SEM values lay between 2 and 4° for all joints except for the MCP5, IP, and MCP1. For the goniometric measurements, MDD and SEM were between 12–30° and 4–11°, respectively. The reliability criterion (ICC > 0.7) was achieved for the ROM measurement with the 3D motion capture system for 94% of the joints and in only 65% of the joints with the manual goniometer.

Conclusions

Joint ROM assessed with 3D motion analysis showed higher test-retest agreement demonstrating overall better repeatability for this method. Because of the smaller measurement error, the 3D motion capture system has a smaller MDD. Only individual test-rest differences bigger than the MDD can be considered as real changes, and therefore, in an experimental situation, the use of a more precise measurement method can greatly reduce the number of subjects needed for a statistical significance. Goniometer measurements of some joints should be carefully interpreted, due to a low repeatability and reliability.

Trial registration

This study is approved by the Ethical Committee Zurich (Kek-ZH-Nr: 2015-0395).

Assessment of hand function during activities of daily living using motion tracking cameras: A systematic review

The human hand is the most frequently used body part in activities of daily living. With its complex anatomical structure and the small size compared to the body, assessing the functional capability is highly challenging. The aim of this review was to provide a systematic overview on currently available 3D motion analysis based on skin markers for the assessment of hand function during activities of daily living. It is focused on methodology rather than results. A systematic review according to the PRISMA guidelines was performed. The systematic search yielded 1349 discrete articles. Of 147 articles included on basis of title, 123 were excluded after abstract review, and 24 were included in the full-text analysis with 13 key articles. There is still limited knowledge about hand and finger kinematics during activities of daily living. A standardization of the task is required in order to overcome the nonrepetitive nature and high variability of upper limb motion and ensure repeatability of task performance. To yield a progress in the analysis of human hand movements, an assessment of human kinematics including fingers, wrist, and thumb and an identification of relevant parameters that characterize a healthy motion pattern during functional tasks are needed.

Functional range of motion of the hand joints in activities of the International Classification of Functioning, Disability and Health

STUDY DESIGN

Cross-sectional research design.

INTRODUCTION

Active range of motion (AROM) is used as indicator of hand function. However, functional range of motion (FROM) data are limited, and fail to represent activities of daily living (ADL).

PURPOSE OF THE STUDY

To estimate dominant hand FROM in flexion, abduction and palmar arching in people under 50 years of age performing ADL.

METHODS

AROMs and hand postures in 24 representative ADL of the International Classification of Functioning, Disability and Health (ICF) were recorded in 12 men and 12 women. FROM data were reported by activity and ICF area, and compared with AROMs. The relationship between ROM measures to gender and hand size was analyzed by correlation.

RESULTS

FROM was 5° to 28° less than available AROM depending on the joint and movement performed.

DISCUSSION

Joints do not necessarily move through full AROM while performing ADL which has benefits in retaining function despite loss of motion. This may also suggest that ADL alone are insufficient to retain or restore full AROM.

CONCLUSIONS

Therapists should consider FROM requirements and normal AROM when defining hand therapy goals, interventions and evaluating the success of treatment.

LEVEL OF EVIDENCE

N/A.