An integrative approach to the biomechanical function and neuromuscular control of the fingers

Finger Kinematics during Human Hand Grip and Release

A bionic robotic hand can perform many movements similar to a human hand. However, there is still a significant gap in manipulation between robot and human hands. It is necessary to understand the finger kinematics and motion patterns of human hands to improve the performance of robotic hands. This study aimed to comprehensively investigate normal hand motion patterns by evaluating the kinematics of hand grip and release in healthy individuals. The data corresponding to rapid grip and release were collected from the dominant hands of 22 healthy people by sensory glove. The kinematics of 14 finger joints were analyzed, including the dynamic range of motion (ROM), peak velocity, joint sequence and finger sequence. The results show that the proximal interphalangeal (PIP) joint had a larger dynamic ROM than metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints. Additionally, the PIP joint had the highest peak velocity, both in flexion and extension. For joint sequence, the PIP joint moved prior to the DIP or MCP joints during flexion, while extension started in DIP or MCP joints, followed by the PIP joint. Regarding the finger sequence, the thumb started to move before the four fingers, and stopped moving after the fingers during both grip and release. This study explored the normal motion patterns in hand grip and release, which provided a kinematic reference for the design of robotic hands and thus contributes to its development.

The relative contributions of multiarticular snake muscles to movement in different planes

Muscles spanning multiple joints play important functional roles in a wide range of systems across tetrapods; however, their fundamental mechanics are poorly understood, particularly the consequences of anatomical position on mechanical advantage. Snakes provide an excellent study system for advancing this topic. They rely on the axial muscles for many activities, including striking, constriction, defensive displays, and locomotion. Moreover, those muscles span from one or a few vertebrae to over 30, and anatomy varies among muscles and among species. We characterized the anatomy of major epaxial muscles in a size series of corn snakes (Pantherophis guttatus) using diceCT scans, and then took several approaches to calculating contributions of each muscle to force and motion generated during body bending, starting from a highly simplistic model and moving to increasingly complex and realistic models. Only the most realistic model yielded equations that included the consequence of muscle span on torque-displacement trade-offs, as well as resolving ambiguities that arose from simpler models. We also tested whether muscle cross-sectional areas or lever arms (total magnitude or pitch/yaw/roll components) were related to snake mass, longitudinal body region (anterior, middle, posterior), and/or muscle group (semispinalis-spinalis, multifidus, longissimus dorsi, iliocostalis, and levator costae). Muscle cross-sectional areas generally scaled with positive allometry, and most lever arms did not depart significantly from geometric similarity (isometry). The levator costae had lower cross-sectional area than the four epaxial muscles, which did not differ significantly from each other in cross-sectional area. Lever arm total magnitudes and components differed among muscles. We found some evidence for regional variation, indicating that functional regionalization merits further investigation. Our results contribute to knowledge of snake muscles specifically and multiarticular muscle systems generally, providing a foundation for future comparisons across species and bioinspired multiarticular systems.

Stiffness Variable Polymer for Soft Actuators with Sharp Stiffness Switch and Fast Response

Stiffness variable polymers are an essential family of materials that have aroused considerable attention in soft actuators. Although lots of strategies have been proposed to achieve variable stiffness, it remains a formidable challenge to achieve a polymer with a wide stiffness range and fast stiffness change. Herein, a series of variable stiffness polymers with a fast stiffness change and wide stiffness range were successfully synthesized, and the formulas were optimized via Pearson correlation tests. The rigid/soft stiffness ratio of the designed polymer samples can reach up to 1376-folds. Impressively, owing to the phase-changing side chains, the narrow endothermic peak can be observed with full width at half-maximum within 5 °C. Moreover, the shape memory properties of the shape fixity (R_f) and shape recovery ratio (R_r) values of the shape memory properties could reach up to 99.3 and 99.2%, respectively. Then, the obtained polymer was introduced into a kind of designed 3D printing soft actuator. The soft actuator can achieve sharp heating-cooling cycle of 19 s under a 1.2 A current with 4 °C water as coolant and can lift a 200 g weight at the actuating state. Moreover, the stiffness of the soft actuator can reach up to 718 mN/mm. The soft actuator exhibits an outstanding actuate behavior and stiffness switchable capability. We expect our design strategy and obtained variable stiffness polymers to be potentially applied in soft actuators and other devices.

The relative motion concept in acute and chronic boutonniere deformity: Invited commentary

STUDY DESIGN

Retrospective.

INTRODUCTION

Boutonniere deformity (BD) is a troublesome injury occurring from rupture of tissue connecting the extrinsic to intrinsic tendon systems. This causes loss of interphalangeal joint balance, and immobilization often results in adherence and difficulty restoring balance.

PURPOSES

Review of relative motion flexion (RMF) orthotic use for safe healing during functional activity in 23 patients, and explanation of the rationale.

METHODS

Anatomic rationale and clinical experience is reviewed in 8 acute BD patients utilizing RMF orthoses for 6 weeks, and for chronic BD patients, 3 months after serial casting.

RESULTS

All patients met the Strickland and Steichen criteria for "excellent" results following treatment, with an average of 35° increase in ROM.

DISCUSSION

The anatomic rationale for relative motion recognizes that altering relative positioning between adjacent metacarpophalangeal (MCP) joints produces a protective favorable impact on interphalangeal forces during hand function using 15°-20° greater MCP joint flexion. This provides dorsal and volar protective benefits because the extensor digitorum communis (EDC), a single-muscle-four-tendon system, attaches to the intrinsic lateral band (LB) tendons. With greater MCP flexion, dorsal EDC force is increased, pulling lateral bands medially, while on the volar surface the downward pull of the lumbrical on LB is relaxed due to origin from the flexor digitorum profundus tendon of the injured digit, also a single-muscle-four-tendon system. The RMF orthosis permits protected active motion during functional activity with acute BD. In patients with chronic BD and adequate passive extension, an RMF orthosis for 3 months also produced encouraging results.

CONCLUSION

Management of acute BD with RMF orthoses provided earlier recovery of motion and hand function. Similar results occurred for chronic BD using serial casting for adequate extension followed by 3 months of RMF orthotic use and should be attempted prior to surgical intervention, with surgery remaining an alternative.

Materials with Electroprogrammable Stiffness

Stiffness is a mechanical property of vital importance to any material system and is typically considered a static quantity. Recent work, however, has shown that novel materials with programmable stiffness can enhance the performance and simplify the design of engineered systems, such as morphing wings, robotic grippers, and wearable exoskeletons. For many of these applications, the ability to program stiffness with electrical activation is advantageous because of the natural compatibility with electrical sensing, control, and power networks ubiquitous in autonomous machines and robots. The numerous applications for materials with electrically driven stiffness modulation has driven a rapid increase in the number of publications in this field. Here, a comprehensive review of the available materials that realize electroprogrammable stiffness is provided, showing that all current approaches can be categorized as using electrostatics or electrically activated phase changes, and summarizing the advantages, limitations, and applications of these materials. Finally, a perspective identifies state-of-the-art trends and an outlook of future opportunities for the development and use of materials with electroprogrammable stiffness.

A Paradigm Shift in Managing Acute and Chronic Boutonniere Deformity: Anatomic Rationale and Early Clinical Results for the Relative Motion Concept Permitting Immediate Active Motion and Hand Use

BACKGROUND

We have utilized relative motion splinting for early motion following acute repair of boutonniere injuries, and we have developed nonoperative orthosis-based therapy for the treatment of chronic injuries. We offer our early clinical experience using relative motion flexion splinting for boutonniere deformities and explain the anatomic rationale that permits immediate active motion and hand use following acute injury or repair. For chronic boutonniere deformity, we offer a nonsurgical management method with low morbidity as a safe alternative to surgery.

METHODS

Our understanding of the extrinsic-intrinsic anatomic interrelationship in boutonniere deformity offers rationale for relative motion flexion splinting, which is confirmed by cadaver study. Our early clinical results in 5 closed and 3 open acute and 15 chronic cases have encouraged recommending this management technique. For repaired open and closed acutely injured digits, we utilize relative motion flexion orthoses that place the injured digits in 15° to 20° greater metacarpophalangeal flexion than its neighboring digits and otherwise permit full active range of motion and functional hand use maintaining the 15° to 20° greater metacarpophalangeal flexion for 6 weeks. In fixed chronic boutonniere cases, serial casting is utilized to obtain as much proximal interphalangeal extension as possible (at least -20°), and then relative motion flexion splinting and hand use is instituted for 12 weeks.

RESULTS

Our acute cases obtained as good as, or better range of motion than, conventional management techniques, with early full flexion and maintenance of extension without any recurrences. The most significant difference is morbidity, with ability to preserve hand function during healing and the absence of further therapy after 6 weeks of splinting. Patients with chronic boutonniere deformity presented from 8 weeks to 3 years following injury (averaging 31 weeks) and were 15 to 99 years of age (averaging 42 years). All were serially casted to less than -20° (averaging -4°) and maintained that level of extension after 3 months of relative motion flexion splinting. All achieved flexion to their palm, and all met the Steichen-Strickland chronic boutonniere classification of "excellent." There were no recurrent progressive boutonniere deformities in either acute or chronic cases and no instances of reflex sympathetic dystrophy/chronic regional pain syndrome (RSD/CRPS).

CONCLUSIONS

Relative motion flexion splinting affords early active motion and hand use with excellent range of motion achieved following acute open boutonniere repair or closed boutonniere rupture with less morbidity than conventional management. Chronic boutonniere deformity will respond to relative motion flexion splinting if serial casting can place the proximal interphalangeal joint in less than -20° extension, and the patient actively uses the hand in a relative motion flexion orthosis for 3 months, recovering flexion. No further therapy was needed in our cases. We believe this management technique should be attempted for chronic boutonniere deformity as a preferable alternative to surgery, which remains an option if needed.

Quantifying Spatial Activation Patterns of Motor Units in Finger Extensor Muscles

The ability to expertly control different fingers contributes to hand dexterity during object manipulation in daily life activities. The macroscopic spatial patterns of muscle activations during finger movements using global surface electromyography (sEMG) have been widely researched. However, the spatial activation patterns of microscopic motor units (MUs) under different finger movements have not been well investigated. The present work aims to quantify MU spatial activation patterns during movement of distinct fingers (index, middle, ring and little finger). Specifically, we focused on extensor muscles during extension contractions. Motor unit action potentials (MUAPs) during movement of each finger were obtained through decomposition of high-density sEMG (HD-sEMG). First, we quantified the spatial activation patterns of MUs for each finger based on 2-dimension (2-D) root-mean-square (RMS) maps of MUAP grids after spike-triggered averaging. We found that these activation patterns under different finger movements are distinct along the distal-proximal direction, but with partial overlap. Second, to further evaluate MU separability, we classified the spatial activation pattern of each individual MU under distinct finger movement and associated each MU with its corresponding finger with Regularized Uncorrelated Multilinear Discriminant Analysis (RUMLDA). A high accuracy of MU-finger classification tested on 12 subjects with a mean of 88.98% was achieved. The quantification of MU spatial activation patterns could be beneficial to studies of neural mechanisms of the hand. To the best of our knowledge, this is the first work which manages to quantify MU behaviors under different finger movements.

Nanomesh pressure sensor for monitoring finger manipulation without sensory interference

Monitoring of finger manipulation without disturbing the inherent functionalities is critical to understand the sense of natural touch. However, worn or attached sensors affect the natural feeling of the skin. We developed nanomesh pressure sensors that can monitor finger pressure without detectable effects on human sensation. The effect of the sensor on human sensation was quantitatively investigated, and the sensor-applied finger exhibits comparable grip forces with those of the bare finger, even though the attachment of a 2-micrometer-thick polymeric film results in a 14% increase in the grip force after adjusting for friction. Simultaneously, the sensor exhibits an extreme mechanical durability against cyclic shearing and friction greater than hundreds of kilopascals.

What is the significance of the traditional pinching mode of holding chopsticks?

Background

The purpose of this study was to clarify the influence of manipulation mode of chopsticks on the learning process, using assessment of task performance and electromyography, and to understand the significance of the traditional manipulation mode from the viewpoint of physiological anthropology. Previous studies have described two modes of manipulating chopsticks, the traditional pincers-pinching mode and the scissors-pinching mode.

Methods

We conducted experiments with two conditions of holding chopsticks: scissors mode and pincers mode. Eight subjects participated and were assigned to these modes, and they learned handling tasks in their assigned mode for 5 days with the non-dominant hand. We measured task execution times and conducted electromyography of the following muscles: first dorsalis interosseus, flexor pollicis brevis, flexor digiti minimi brevis, flexor digitorum superficialis, and extensor digitorum.

Results

The training effects were found in each mode. The pincers mode showed significantly shorter task performance times than did scissors mode. On electromyography, significant increases in activity of flexor digiti minimi brevis and tended an increase in flexor digitorum superficialis and a decrease in extensor digitorum occurred in pincers mode but not in scissors mode.

Conclusions

The traditional mode of holding chopsticks was associated with not only high task performance but also an advantage in terms of learning motor control.

Mapping Together Kinetic and Kinematic Abilities of the Hand

Millions of people have reduced hand function; this loss of function can be due to injury, disease, or aging. Loss of hand function is identified as reduced motion abilities in the fingers or a decrease in the ability of the fingers to generate force. Unfortunately, there are limited data available regarding each finger's ability to produce force and how those force characteristics vary with changes in finger posture. To relate motion and force abilities of the fingers, first, an approach to measure and map them together is needed. The goal of this work was to develop and demonstrate a method to quantify the force abilities of the fingers and map these forces to the kinematic space associated with each finger. Using motion capture and multiaxis load cells, finger forces were quantified at different positions over their ranges of motion. These two sets of data were then converted to the same coordinate space and mapped together. Further, the data were normalized for the index finger and mapped as a population space model. The ability to quantify motion and force data for each finger and map them together will provide an improved understanding of the effects of treatments and rehabilitation, identifying functional loss due to injury or disease, and device design.

Neuromuscular and biomechanical functions subserving finger dexterity in musicians

Exceptional finger dexterity enables skillful motor actions such as those required for musical performance. However, it has been not known whether and in what manner neuromuscular or biomechanical features of the fingers subserve the dexterity. We aimed to identify the features firstly differentiating the finger dexterity between trained and untrained individuals and secondly accounting for the individual differences in the dexterity across trained individuals. To this aim, two studies were conducted. The first study compared the finger dexterity and several neuromuscular and biomechanical characteristics of the fingers between pianists and non-musicians. As a measure of the dexterity, we used the maximum rate of repetitive finger movements. The results showed no differences in any biomechanical constraints of the fingers between the two groups (i.e. anatomical connectivity between the fingers and range of motion). However, the pianists exhibited faster finger movements and more independent control of movements between the fingers. These observations indicate expertise-dependent enhancement of the finger dexterity and reduction of neuromuscular constraints on movement independence between the fingers. The second study assessed individual differences in the finger dexterity between trained pianists. A penalized regression determined an association of the maximum movement speed of the fingers with both muscular strength and biomechanical characteristics of the fingers, but not with neuromuscular constraints of the fingers. None of these features covaried with measures of early and deliberate piano practice. These findings indicate that distinct biological factors of finger motor dexterity differentiate between the effects of piano practicing and individual differences across skilled pianists.

Effects of kinematic complexity and number of muscles on musculoskeletal model robustness to muscle dysfunction

The robustness of motor outputs to muscle dysfunction has been investigated using musculoskeletal modeling, but with conflicting results owing to differences in model complexity and motor tasks. Our objective was to systematically study how the number of kinematic degrees of freedom, and the number of independent muscle actuators alter the robustness of motor output to muscle dysfunction. We took a detailed musculoskeletal model of the human leg and systematically varied the model complexity to create six models with either 3 or 7 kinematic degrees of freedom and either 14, 26, or 43 muscle actuators. We tested the redundancy of each model by quantifying the reduction in sagittal plane feasible force set area when a single muscle was removed. The robustness of feasible force set area to the loss of any single muscle, i.e. general single muscle loss increased with the number of independent muscles and decreased with the number of kinematic degrees of freedom, with the robust area varying from 1% and 52% of the intact feasible force set area. The maximum sensitivity of the feasible force set to the loss of any single muscle varied from 75% to 26% of the intact feasible force set area as the number of muscles increased. Additionally, the ranges of feasible muscle activation for maximum force production were largely unconstrained in many cases, indicating ample musculoskeletal redundancy even for maximal forces. We propose that ratio of muscles to kinematic degrees of freedom can be used as a rule of thumb for estimating musculoskeletal redundancy in both simulated and real biomechanical systems.

Morphology, shape variation and movement of skeletal elements in starfish (Asterias rubens)

Starfish (order: Asteroidea) possess a complex endoskeleton composed of thousands of calcareous ossicles. These ossicles are embedded in a body wall mostly consisting of a complex collagen fiber array. The combination of soft and hard tissue provides a challenge for detailed morphological and histological studies. As a consequence, very little is known about the general biomechanics of echinoderm endoskeletons and the possible role of ossicle shape in enabling or limiting skeletal movements. In this study, we used high-resolution X-ray microscopy to investigate individual ossicle shape in unprecedented detail. Our results show the variation of ossicle shape within ossicles of marginal, reticular and carinal type. Based on these results we propose an additional classification to categorize ossicles not only by shape but also by function into 'connecting' and 'node' ossicles. We also used soft tissue staining with phosphotungstic acid successfully and were able to visualize the ossicle ultrastructure at 2-μm resolution. We also identified two new joint types in the aboral skeleton (groove-on-groove joint) and between adambulacral ossicles (ball-and-socket joint). To demonstrate the possibilities of micro-computed tomographic methods in analyzing the biomechanics of echinoderm skeletons we exemplarily quantified changes in ossicle orientation for a bent ray for ambulacral ossicles. This study provides a first step for future biomechanical studies focusing on the interaction of ossicles and soft tissues during ray movements.

Model-based analysis of the stiffness of the wrist joint in active and passive conditions

The control of joint stiffness is a fundamental mechanism used to control human movements. While many studies have observed how stiffness is modulated for tasks involving shoulder and elbow motion, a limited amount of knowledge is available for wrist movements, though the wrist plays a crucial role in manipulation. We have developed a computational framework based on a realistic musculoskeletal model, which al to calculate the passive and active components of the wrist joint stiffness. We first used the framework to validate the musculoskeletal model against experimental measurements of the wrist joint stiffness, and then to study the contribution of different muscle groups to the passive joint stiffness. We finally used the framework to study the effect of muscle co-contraction on the active joint stiffness. The results show that thumb and finger muscles play a crucial role in determining the passive wrist joint stiff- ness: in the neutral posture, the direction of maximum stiffness aligns with the experimental measurements, and the magnitude increases by 113% when they are included. Moreover, the analysis of the controllability of joint stiffness showed that muscle co-contraction positively correlates with the stiffness magnitude and negatively correlates with the variability of the stiffness orientation (p < 0.01 in both cases). Finally, an exhaustive search showed that with appropriate selection of a muscle activation strategy, the joint stiffness orientation can be arbitrarily modulated. This observation suggests the absence of biomechanical constraints on the controllability of the orientation of the wrist joint stiffness.

Finger movements are mainly represented by a linear transformation of energy in band-specific ECoG signals

Electrocardiogram (ECoG) recordings are very attractive for Brain Machine Interface (BMI) applications due to their balance between good signal to noise ratio and minimal invasiveness. The design of ECoG signal decoders is an open research area to date which requires a better understanding of the nature of these signals and how information is encoded in them. In this study, a linear and a non-linear method, Linear Regression Model (LRM) and Artificial Neural Network (ANN) respectively, were used to decode finger movements from energy in band-specific ECoG signals. It is shown that the ANN only slightly outperformed the LRM, which suggests that finger movements are mainly represented by a linear transformation of energy in band-specific ECoG signals. In addition, comparing our results to similar Electroencephalogram (EEG) studies illustrated that the spatio-temporal summation of multiple neural signals is itself linearly correlated with movement, and is not an artifact introduced by the scalp or cranium. Furthermore, a new algorithm was employed to reduce the number of spectral features of the input signals required for either of the decoding methods.

Hand Posture Prediction Using Neural Networks within a Biomechanical Model

This paper proposes the use of artificial neural networks (ANNs) in the framework of a biomechanical hand model for grasping. ANNs enhance the model capabilities as they substitute estimated data for the experimental inputs required by the grasping algorithm used. These inputs are the tentative grasping posture and the most open posture during grasping. As a consequence, more realistic grasping postures are predicted by the grasping algorithm, along with the contact information required by the dynamic biomechanical model (contact points and normals). Several neural network architectures are tested and compared in terms of prediction errors, leading to encouraging results. The performance of the overall proposal is also shown through simulation, where a grasping experiment is replicated and compared to the real grasping data collected by a data glove device.

The effect of the extensor mechanism on maximum isometric fingertip forces: A numerical study on the index finger

The extensor mechanism is a tendinous network connecting intrinsic and extrinsic muscles of the finger and its function has not yet been fully understood. The goal of this study was to assess the effect of the extensor mechanism on the maximum isometric fingertip forces - a parameter which is essential for grasping. For this purpose, maximum fingertip forces in all directions (i.e. feasible force sets) of two musculoskeletal models of the index finger were compared: the wEM model included a full representation of the extensor mechanism, whereas in the noEM model the extensor mechanism was replaced by a single extensor tendon without connectivity to intrinsic muscles. The feasible force sets were computed in the flexion-extension plane for nine postures. Forces in four predefined directions (palmar, proximal, dorsal, and distal), and the peak resultant forces were evaluated. Averaged forces in all four predefined directions were considerably larger in the wEM model (+187.6%). However, peak resultant forces were slightly lower in the wEM model (-4.3% on average). The general advantage of the wEM model could be explained by co-contraction of intrinsic and extrinsic extensor muscles which allowed reaching larger activation levels of the extrinsic flexors. Only within a narrow range of force directions the co-contraction of intrinsic muscles limited the fingertip forces and lead to lower peak resultant forces in the wEM model. Rather than maximizing peak resultant forces, it appears that the extensor mechanism is a sophisticated tool for increasing maximum fingertip forces over a broad range of postures and force directions - making the finger more versatile during grasping.

Spatiotemporal distribution of location and object effects in the electromyographic activity of upper extremity muscles during reach-to-grasp

In reaching to grasp an object, proximal muscles that act on the shoulder and elbow classically have been viewed as transporting the hand to the intended location, while distal muscles that act on the fingers simultaneously shape the hand to grasp the object. Prior studies of electromyographic (EMG) activity in upper extremity muscles therefore have focused, by and large, either on proximal muscle activity during reaching to different locations or on distal muscle activity as the subject grasps various objects. Here, we examined the EMG activity of muscles from the shoulder to the hand, as monkeys reached and grasped in a task that dissociated location and object. We quantified the extent to which variation in the EMG activity of each muscle depended on location, on object, and on their interaction-all as a function of time. Although EMG variation depended on both location and object beginning early in the movement, an early phase of substantial location effects in muscles from proximal to distal was followed by a later phase in which object effects predominated throughout the extremity. Interaction effects remained relatively small. Our findings indicate that neural control of reach-to-grasp may occur largely in two sequential phases: the first, serving to project the entire upper extremity toward the intended location, and the second, acting predominantly to shape the entire extremity for grasping the object.

Does muscle coactivation influence joint excursions during gait in children with and without hemiplegic cerebral palsy? Relationship between muscle coactivation and joint kinematics

BACKGROUND

The theoretical role of muscle coactivation is to stiffen joints. The aim of this study was to assess the relationship between muscle coactivation and joint excursions during gait in children with and without hemiplegic cerebral palsy.

METHODS

Twelve children with hemiplegic cerebral palsy and twelve typically developing children underwent gait analysis at three different gait speeds. Sagittal hip, knee, and ankle kinematics were divided into their main components corresponding to joint excursions. A coactivation index was calculated for each excursion from the electromyographic envelopes of the rectus femoris/semitendinosus, vastus medialis/semitendinosus, or tibialis anterior/soleus muscles. Mixed linear analyses of covariance modeled joint excursions as a function of the coactivation index and limb.

FINDINGS

In typically developing children, increased coactivation was associated with reduced joint excursion for 8 of the 14 linear models (hip flexion, knee loading, knee extension in stance, knee flexion in swing, ankle plantarflexion from initial contact to foot-flat, ankle dorsiflexion in stance and in swing). Conversely, ankle plantarflexion excursion at push-off increased with increasing tibialis anterior/soleus coactivation. In the involved limbs of the children with cerebral palsy, knee loading, ankle plantarflexion at push off, and ankle dorsiflexion in swing decreased, while hip extension increased, with increasing muscle coactivation.

INTERPRETATION

The relationships between muscle coactivation and joint excursion were not equally distributed in both groups, and predominant in typically developing children. The results suggest that excessive muscle coactivation is not a cause of stiff-knee gait in children with hemiplegic cerebral palsy, but appears to be related to spastic drop foot.

Digital Handwriting with a Finger or a Stylus: A Biomechanical Comparison

In this paper, we present a study concerning the human hand during digital handwriting on a tablet. Two different cases are considered: writing with the finger, and writing with the stylus. We chose an approach based on the biomechanics of the human hand to compare the two different input methods. Performance is evaluated using metrics originally introduced and developed in robotics, such as the manipulability indexes. Analytical results assess that writing with the finger is more suitable for performing large, but not very accurate motions, while writing with the stylus leads to a higher precision and more isotropic motion performance. We then carried out two experiments of digital handwriting to support the approach and contextualize the results.

Exploring the high-dimensional structure of muscle redundancy via subject-specific and generic musculoskeletal models

Subject-specific and generic musculoskeletal models are the computational instantiation of hypotheses, and stochastic techniques help explore their validity. We present two such examples to explore the hypothesis of muscle redundancy. The first addresses the effect of anatomical variability on static force capabilities for three individual cat hindlimbs, each with seven kinematic degrees of freedom (DoFs) and 31 muscles. We present novel methods to characterize the structure of the 31-dimensional set of feasible muscle activations for static force production in every 3-D direction. We find that task requirements strongly define the set of feasible muscle activations and limb forces, with few differences comparing individual vs. species-average results. Moreover, muscle activity is not smoothly distributed across 3-D directions. The second example explores parameter uncertainty during a flying disc throwing motion by using a generic human arm with five DoFs and 17 muscles to predict muscle fiber velocities. We show that the measured joint kinematics fully constrain the eccentric and concentric fiber velocities of all muscles via their moment arms. Thus muscle activation for limb movements is likely not redundant: there is little, if any, latitude in synchronizing alpha-gamma motoneuron excitation-inhibition for muscles to adhere to the time-critical fiber velocities dictated by joint kinematics. Importantly, several muscles inevitably exhibit fiber velocities higher than thought tenable, even for conservative throwing speeds. These techniques and results, respectively, enable and compel us to continue to revise the classical notion of muscle redundancy for increasingly more realistic models and tasks.

The neuromechanical adaptations to Achilles tendinosis

KEY POINTS

Achilles tendinosis is a localized degenerative musculoskeletal disorder that develops over a long period of time and leads to a compliant human Achilles tendon. We demonstrate that the compliant Achilles tendon elicited a series of adaptations from different levels of the human movement control system, such as the muscle-tendon interaction, CNS control and other muscles in the lower leg. These results illustrate the human body's capacity to adapt to tendon pathology and provide the physiological basis for intervention or prevention strategies. Human movement is initiated, controlled and executed in a hierarchical system including the nervous system, muscle and tendon. If a component in the loop loses its integrity, the entire system has to adapt to that deficiency. Achilles tendon, when degenerated, exhibits lower stiffness. This local mechanical deficit may be compensated for by an alteration of motor commands from the CNS. These modulations in motor commands from the CNS may lead to altered activation of the agonist, synergist and antagonist muscles. The present study aimed to investigate the effect of tendon degeneration on its mechanical properties, the neuromechanical behaviour of the surrounding musculature and the existence of the CNS modulation accompanying tendinosis. We hypothesize that the degenerated tendon will lead to diminished tissue mechanical properties and protective muscle activation patterns, as well as an up-regulated descending drive from the CNS. Strong evidence, as reported in the present study, indicates that tendinotic tendons are more compliant compared to healthy tendons. This unilateral involvement affected the neuromuscular control on the involved side but not the non-involved side. The muscle-tendon unit on the tendinotic side exhibits a lowered temporal efficiency, which leads to altered CNS control. The altered CNS control is then expressed as an adapted muscle activation pattern in the lower leg. Taken together, the findings of the present study illustrate the co-ordinated multi-level adaptations to a mechanical lesion in a tendon caused by pathology.

An introductory study of common grasps used by adults during performance of activities of daily living

This paper presents the results of a descriptive survey on human grasps. Sixty-four videos were selected to represent tasks performed in the main areas of activities of daily living (ADL) (personal care, meal preparation, eating, housekeeping, etc.). All the participants were right-handed. Elementary grasps were identified for each hand, and the grasp type (from a 9-type classification), the hands involved, and the duration were registered for each case. The results show that the most commonly used grasps are: pinch, non-prehensile, cylindrical, lateral pinch and lumbrical. The presence of these grasps in the areas of ADL is, however, very different (e.g., pinch is widely used in food preparation and very little in driving). Some grasps were used more frequently with one hand or when both hands were used simultaneously (e.g., special pinch was hardly used by the left hand). Knowing the grasp types most frequently used in ADL is essential to be able to assess grasp rehabilitation processes or hand prostheses development.

Biomechanical analysis of force distribution in human finger extensor mechanisms

The complexities of the function and structure of human fingers have long been recognised. The in vivo forces in the human finger tendon network during different activities are critical information for clinical diagnosis, surgical treatment, prosthetic finger design, and biomimetic hand development. In this study, we propose a novel method for in vivo force estimation for the finger tendon network by combining a three-dimensional motion analysis technique and a novel biomechanical tendon network model. The extensor mechanism of a human index finger is represented by an interconnected tendinous network moving around the phalanx's dorsum. A novel analytical approach based on the "Principle of Minimum Total Potential Energy" is used to calculate the forces and deformations throughout the tendon network of the extensor mechanism when subjected to an external load and with the finger posture defined by measurement data. The predicted deformations and forces in the tendon network are in broad agreement with the results obtained by previous experimental in vitro studies. The proposed methodology provides a promising tool for investigating the biomechanical function of complex interconnected tendon networks in vivo.

Anthropomorphic tendon-driven robotic hands can exceed human grasping capabilities following optimization

How functional versatility emerges in vertebrate limbs in spite of their anatomical complexity is a longstanding question. In particular, fingers are actuated by numerous muscles pulling on tendons following intricate paths. In contrast, the tendon-driven robotic hands with intuitive tendon routings preferred by roboticists for their ease of analysis and control do not perform at the level of their biological counterparts. Thus there is much debate on whether and how the anatomy of the human hand contributes to grasp capabilities. These parallel questions in biology and robotics arise partly because it is unclear how the number and routing of tendons offer functional benefits. We use a novel computational approach that analyzes tendon-driven systems and quantifies grasp quality to compare the precision grasp capabilities of thousands of robotic index finger and thumb designs vs. the capabilities measured in human hands. Our exhaustive search finds that neither the symmetrical designs sometimes preferred by roboticists nor randomly generated designs approach the grasp capabilities of the human hand (they are on average 73% weaker). However, optimizing for anatomically plausible asymmetry in joint centers, tendon routings, and maximal tendon tensions produces designs that can exceed the human hand by 13–45%, and outperform the preferred robotic designs by up to 435%. Thus, the grasp capabilities of prosthetic or anthropomorphic hands can be greatly improved by judiciously altering design parameters, at times in counter-intuitive ways. Moreover we conclude that, in addition to its other capabilities, the human hand’s anatomy is very advantageous for precision grasp as it greatly outperforms numerous alternative robotic designs.

Independence and control of the fingers depend on direction and contraction mode

Both biomechanical and neural factors are suggested to contribute to the limited independence of finger movement and involuntary force production. The purpose of this study was to evaluate finger independence by examining the activity of the four compartments of extensor digitorum (ED) and flexor digitorum superficialis (FDS) and involuntary force production in the non-task fingers using the "enslaving effect" (EE). Twelve male participants performed a series of 5s sub-maximal exertions at 5%, 25%, 50% and 75% of maximum using isometric isotonic and ramp flexion and extension exertions. Ramp exertions were performed from 0% to 85% of each finger's maximum force with ascending and descending phases taking 4.5s. EE was lower in flexion exertions likely due to the higher activity of the antagonist ED compartments counterbalancing the involuntary activation of the non-task FDS compartments. Minimal FDS activity was seen during extension exertions. At forces up to and including 50%, both EE and muscle activity of the non-task compartments were significantly higher in descending exertions than isotonic or ascending exertions. Up to mid-level forces, both finger proximity and contraction mode affect involuntary force production and muscle activation while only finger proximity contributed to finger independence at higher forces.

The influence of gait speed on co-activation in unilateral spastic cerebral palsy children

BACKGROUND

Physiological co-activation of antagonistic muscles during gait allows stability of loaded joints. Excessive co-activation restrains motion and increases energy expenditure. Co-activation is increased by gait speed and in the case of upper motor neuron lesions. This study aimed to assess the pathological component of co-activation in children with unilateral cerebral palsy.

METHODS

10 children with unilateral cerebral palsy and 10 typically developing children walked at spontaneous, slow and fast speeds. The spatio-temporal parameters and electromyographic activity of the rectus femoris, vastus medialis, semi-tendinosus, tibialis anterior and soleus of both lower limbs were recorded. A co-activation index was computed from the EMG envelopes. A mixed linear model was used to assess the effect of walking speed on the index of the antagonistic muscle couples (rectus femoris/semi-tendinosus, vastus medialis/semi-tendinosus and tibialis anterior/soleus) in the different limbs.

FINDINGS

A greater effect of walking speed on co-activation was found in the involved limbs of children with cerebral palsy for all muscle couples, compared with their uninvolved limbs and the limbs of typically developing children. In typically developing children, but not in children with cerebral palsy, the effect of gait speed on the co-activation index was lower in the rectus femoris/semi-tendinosus than in the other agonist/antagonist muscle couples.

INTERPRETATIONS

In children with cerebral palsy, a pathological component of muscle activation might be responsible for the greater increase in co-activation with gait speed in the involved limb. Altered motor control could explain why the co-activation in the rectus femoris/semi-tendinosus couple becomes more sensitive to speed.

Manipulability analysis of human thumb, index and middle fingers in cooperative 3D rotational movements of a small object

The combined motion of the human thumb, index and middle fingers while rotating a small object across the extended, intermediate and flexed planes with respect to the fingers was analyzed. Auto reflective markers were attached on the fingers to track their motion across three postures and planes via a 3D motion capture system. Central, right and left rotation postures were considered in each plane for investigation and the rotation experiments were performed with 30 healthy subjects. The obtained data were used to compute the finger joint angles. Based on the three criteria of (i) manipulability measure, (ii) major axis direction angle of the manipulability ellipsoid and (iii) ratio of the minor over major axis lengths, the collective behavior of the fingers was studied. It has been found after analysis that the thumb and middle finger were active, while the index finger operated passively when manipulating small objects in cooperative rotational motion across the three planes. Activeness refers to the independence of a digit in controlling the motion of an object whereas passiveness denotes its dependence on other digits. An active finger governs the motion of an object whereas a passive finger simply supports it. The results of this investigation are of great importance in planning treatment for rehabilitation and for designing controllers for robotic therapists, finger exoskeletons and prostheses.

Control strategies for the index finger of a tendon-driven hand

To understand how versatile dexterity is achieved in the human hand and to achieve it in a robotic form, we have constructed an anatomically correct testbed (ACT) hand. This paper focuses on the development of control strategies for the index finger motion and implementation of joint passive behavior in the ACT hand. A direct muscle position control and a force-optimized joint control are implemented for position tracking through muscle force control. The relationships between the muscle and joint motions play a critical role in both of the controllers and we implemented a Gaussian process regression technique to determine these relationships. Our experiments demonstrate that the direct muscle position controller allows for fast position tracking, while the force-optimized joint controller allows for the exploitation of actuation redundancy in the finger critical for this redundant system. We demonstrate that by implementing a passive force–length relationship at each muscle we are able to precisely match joint stiffness of the metacarpophalangeal (MCP) joint of the ACT to that of a human MCP joint. We also show the results from improved position tracking when implemented in the presence of passive muscle control schemes. The control schemes for position tracking and passive behavior are inspired by human neuromuscular control, and form the building blocks for developing future human-like control approaches.

Environmental experience within and across testing days determines the strength of human visuomotor adaptation

The use of vision allows us to guide and modify our movements by appropriately transforming external sensory information into proper motor commands. We investigated how people learned visuomotor transformations in different visual feedback environments. These environments presented perturbations of visual sense of movement direction. Across experiments and testing days, we altered the likelihood of visual perturbation occurrence and the distribution of sign and strength of visual perturbation angles. We then observed how transformation of sensed error into incremental adaptation depended on visual perturbation angle and on environmental experience. We found that environmental context affected adaptive responses within a day and across days. The across-day effect was profound enough that people exhibited very weak or very strong adaptive sensitivity to identical stimuli, dependent solely on prior days' experience. We conclude that trial-by-trial adaptation to visual feedback is not fixed, but dependent on environmental experiences on both short and long time scales.

A method to determine whether a musculoskeletal model can resist arbitrary external loadings within a prescribed range

Computational models of the musculoskeletal system are prone to design errors. It is possible to create a model that cannot satisfy equilibrium conditions for a set of external loading conditions. A model is 'loadable' if there exists a set of muscle forces that can resist an arbitrary applied force within a prescribed range. In this study, a novel mathematical method is introduced to determine whether models are loadable. In addition, an idealised musculoskeletal model is presented in order to develop the theory behind the mathematical method. The method uses the simplex algorithm to determine feasibility of the linear programming problem and can determine loadability for an arbitrary, continuous range of external forces. The method was applied to a three-dimensional model of the shoulder and correctly determined loadability for a range of externally applied forces.

Muscle redundancy does not imply robustness to muscle dysfunction

It is well-known that muscle redundancy grants the CNS numerous options to perform a task. Does muscle redundancy, however, allow sufficient robustness to compensate for loss or dysfunction of even a single muscle? Are all muscles equally redundant? We combined experimental and computational approaches to establish the limits of motor robustness for static force production. In computer-controlled cadaveric index fingers, we find that only a small subset (<5%) of feasible forces is robust to loss of any one muscle. Importantly, the loss of certain muscles compromises force production significantly more than others. Further computational modeling of a multi-joint, multi-muscle leg demonstrates that this severe lack of robustness generalizes to whole limbs. These results provide a biomechanical basis to begin to explain why redundant motor systems can be vulnerable to even mild neuromuscular pathology.

Controlling instabilities in manipulation requires specific cortical-striatal-cerebellar networks

Dexterous manipulation requires both strength, the ability to produce fingertip forces of a specific magnitude, and dexterity, the ability to dynamically regulate the magnitude and direction of fingertip force vectors and finger motions. Although cortical activity in fronto-parietal networks has been established for stable grip and pinch forces, the cortical regulation in the dexterous control of unstable objects remains unknown. We used functional magnetic resonance imaging (fMRI) to interrogate cortical networks engaged in the control of four objects with increasing instabilities but requiring constant strength. In addition to expected activity in fronto-parietal networks we find that dexterous manipulation of increasingly unstable objects is associated with a linear increase in the amplitude of the BOLD signal in the basal ganglia (P = 0.007 and P = 0.023 for 2 compression tasks). A computational regression (connectivity) model identified independent subsets of cortical networks whose connection strengths were mutable and associated with object instability (P < 0.001). Our results suggest that in the presence of object instability, the basal ganglia may modulate the activity of premotor areas and subsequent motor output. This work, therefore, provides new evidence for the selectable cortical representation and execution of dynamic multifinger manipulation for grasp stability.

The potential of virtual reality and gaming to assist successful aging with disability

Using the advances in computing power, software and hardware technologies, virtual reality (VR), and gaming applications have the potential to address clinical challenges for a range of disabilities. VR-based games can potentially provide the ability to assess and augment cognitive and motor rehabilitation under a range of stimulus conditions that are not easily controllable and quantifiable in the real world. This article discusses an approach for maximizing function and participation for those aging with and into a disability by combining task-specific training with advances in VR and gaming technologies to enable positive behavioral modifications for independence in the home and community. There is potential for the use of VR and game applications for rehabilitating, maintaining, and enhancing those processes that are affected by aging with and into disability, particularly the need to attain a balance in the interplay between sensorimotor function and cognitive demands and to reap the benefits of task-specific training and regular physical activity and exercise.

Somatosensory comparison during haptic tracing

Active sensing involves memory retrieval and updating as well as mechanisms that trigger corrections to the ongoing exploratory movement. The present study examined this process in a task where human subjects moved the index fingertip clockwise around the circumference of a virtual sphere created by a robotic device. The fingertip pressed into the sphere during the movement, and the subjects were to report slight differences in sphere size (or surface curvature), which occurred from trial to trial. During each 2- to 3-s trial, subjects gradually adjusted their speed and pressure according to the current surface curvature, achieving a consistent level of contact force in the last half of the exploration. The results demonstrate that subjects were gradually accumulating haptic information about curvature and, at the same time, gradually changing the motor commands for the movement. When subjects encountered an unexpected transition in curvature (from circular to flat), they reacted by abruptly decreasing contact force at a latency of about 50 ms. This short latency indicates that spinally mediated corrections are engaged during this task. The results support the hypothesis that during haptic exploration, the neural comparison between expected and actual somatosensory feedback takes places at multiple levels, including the spinal cord.

Handwriting: hand-pen contact force synergies in circle drawing tasks

This study investigated synergistic actions of hand-pen contact forces during circle drawing tasks in three-dimensional (3D) space. Twenty-four right-handed participants drew thirty concentric circles in the counterclockwise (CCW) and clockwise (CW) directions. Three-dimensional forces acting on an instrumented pen as well as 3D linear and angular positions of the pen were recorded. These contact forces were then transformed into the 3D radial, tangential, and normal force components specific to circle drawing. Uncontrolled manifold (UCM) analysis was employed to calculate the magnitude of the hand-pen contact force synergy. Three hypotheses were tested. First, hand-pen contact force synergies during circle drawing are dependent on the angular position of the pen tip. Second, hand-pen contact force synergies are dependent on force components in circle drawing. Third, hand-pen contact force synergies are greater in CCW direction than CW direction. The results showed that the strength of the hand-pen contact force synergy increased during the initial phase of circle drawing and decreased during the final phase. The synergy strength was greater for the radial and tangential components as compared to the normal component. Also, the circle drawing in CW direction was associated with greater hand-pen contact force synergy than the CCW direction. The results of this study suggest that the central nervous system (CNS) prioritizes hand-pen contact force synergies for the force components (i.e., radial and tangential) that are critical for circle drawing. The CNS modulates hand-pen contact force synergies for preparation and conclusion of circle drawing, respectively.

A simulating analysis of the effects of increased joint stiffness on muscle loading in a thumb

BACKGROUND

The development of osteoarthritis (OA) in the hand results in increased joint stiffness, which in turn affects the grip strength. The goal of the present study is to theoretically analyze the muscle forces in a thumb in response to the increased joint stiffness.

METHODS

The thumb was modeled as a linkage system consisting of a trapezium, a metacarpal bone, a proximal and a distal phalanx. Nine muscles were included in the model: flexor pollicis longus (FPL), extensor pollicis longus (EPL), extensor pollicis brevis (EPB), abductor pollicis longus (APL), flexor pollicis brevis (FPB), abductor pollicis brevis (APB), the transverse head of the adductor pollicis (ADPt), the oblique head of the adductor pollicis (ADPo), and opponens pollicis (OPP). Numerical tests were performed using an inverse dynamic approach. The joints were prescribed to an angular motion at one degree-of-freedom (DOF) each time with all other DOFs of the joints being mechanically constrained, while the muscle forces in response to the joint motions were predicted. The normal joint stiffness was assumed to be 0.05, 0.10, and 0.15 N m/rad for interphalangeal (IP), metacarpophalangeal (MCP), and carpometacarpal (CMC) joint, respectively. The joint stiffness was assumed to increase by 50% and 100%, simulating the biomechanical consequences of OA.

RESULTS

Our simulations indicated that the increase in joint stiffness induced substantial increases in muscle forces, especially in the EPL and FPL muscles in response to IP, MCP, or CMC extension/flexion motions.

CONCLUSIONS

Because the strength of the muscles in the fingers is limited, the muscles will not be able to overcome joint resistance if joint stiffness is increased to its limit due to OA. This may contribute to the reduced range of motion typically seen in OA.

Recovery of thumb and finger extension and its relation to grasp performance after stroke

This study investigated how the ability to extend the fingers and thumb recovers early after stroke and how the ability to extend all of the digits affects grasping performance. We studied 24 hemiparetic patients at 3 and 13 wk post stroke. At each visit, we tested the subjects' ability to actively extend all five digits of their contralesional, affected hand against gravity and to perform a grasp movement with the same hand. Three-dimensional motion analysis captured: 1) maximal voluntary extension excursion of each digit and 2) grasp performance variables of movement time, peak aperture, peak aperture rate, and aperture path ratio. We found that finger and thumb extension improved from 3 to 13 wk, with average improvements ranging from 12 to 19 degrees across the five digits. Grasp performance improved on two of the four variables measured. Peak apertures and peak aperture rates improved from 3 to 13 wk, but self-selected movement time and aperture path ratio did not. Stepwise multiple regression models showed that the majority of variance in grasp performance at 13 wk could be predicted by the ability to extend the index or middle finger at 3 wk, plus the change in the ability to extend the index finger from 3 to 13 wk. R2 values ranged from 0.55 to 0.89. Our data indicate that the amount of recovery in finger and thumb extension and grasping is small from 3 to 13 wk post stroke. In people with relatively pure motor hemiparesis, one important factor underlying deficits in hand shaping during grasping is the inability to extend the fingers and thumb. Without sufficient volitional control of finger and thumb extension, successful grasping of objects will not occur.

Objective evaluation of fine motor manipulation-a new clinical tool

A new performance-based tool has been developed to accurately and precisely evaluate finger/hand function during manipulation of any object, independent of geometric and surface properties. The objectives of this study were to show test-retest reliability and evaluate criterion validity. Twenty healthy, right-handed participants were recruited. Three objects ranging in weight and size, requiring two or three fingers, were instrumented with a motion sensor that tracked 3D linear/angular motion. A computerized visual-guided tracking task was used to quantify motor performance during object manipulation. Two testing periods, one week apart were performed to evaluate test-retest reliability. Criterion validity was assessed by comparing performance with this tool to performance on commonly used clinical dexterity tests. Global performance, temporal accuracy, and amplitude consistency during manipulation of the objects compared with the reference waveform were highly reliable on the two testing occasions. Low-moderate correlations between the clinical dexterity tests and the task protocol indicate that different aspects of hand function were measured. The task protocol directly measures the ability of the hand to coordinate movement in response to a visual tracking target. Providing effective and objective ways to evaluate manual dexterity and hand function is a critical part of evidence-based practice.

Structured variability of muscle activations supports the minimal intervention principle of motor control

Numerous observations of structured motor variability indicate that the sensorimotor system preferentially controls task-relevant parameters while allowing task-irrelevant ones to fluctuate. Optimality models show that controlling a redundant musculo-skeletal system in this manner meets task demands while minimizing control effort. Although this line of inquiry has been very productive, the data are mostly behavioral with no direct physiological evidence on the level of muscle or neural activity. Furthermore, biomechanical coupling, signal-dependent noise, and alternative causes of trial-to-trial variability confound behavioral studies. Here we address those confounds and present evidence that the nervous system preferentially controls task-relevant parameters on the muscle level. We asked subjects to produce vertical fingertip force vectors of prescribed constant or time-varying magnitudes while maintaining a constant finger posture. We recorded intramuscular electromyograms (EMGs) simultaneously from all seven index finger muscles during this task. The experiment design and selective fine-wire muscle recordings allowed us to account for a median of 91% of the variance of fingertip forces given the EMG signals. By analyzing muscle coordination in the seven-dimensional EMG signal space, we find that variance-per-dimension is consistently smaller in the task-relevant subspace than in the task-irrelevant subspace. This first direct physiological evidence on the muscle level for preferential control of task-relevant parameters strongly suggest the use of a neural control strategy compatible with the principle of minimal intervention. Additionally, variance is nonnegligible in all seven dimensions, which is at odds with the view that muscle activation patterns are composed from a small number of synergies.