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

Biomimetic Tendon-Based Mechanism for Finger Flexion and Extension in a Soft Hand Exoskeleton: Design and Experimental Assessment

This study proposes a bioinspired exotendon routing configuration for a tendon-based mechanism to provide finger flexion and extension that utilizes a single motor to reduce the complexity of the system. The configuration was primarily inspired by the extrinsic muscle-tendon units of the human musculoskeletal system. The function of the intrinsic muscle-tendon units was partially compensated by adding a minor modification to the configuration of the extrinsic units. The finger kinematics produced by this solution during flexion and extension were experimentally evaluated on an artificial finger and compared to that obtained using the traditional mechanism, where one exotendon was inserted at the distal phalanx. The experiments were conducted on nine healthy subjects who wore a soft exoskeleton glove equipped with the novel tendon mechanism. Contrary to the traditional approach, the proposed mechanism successfully prevented the hyperextension of the distal interphalangeal (DIP) and the metacarpophalangeal (MCP) joints. During flexion, the DIP joint angles produced by the novel mechanism were smaller than the angles generated by the traditional approach for the same proximal interphalangeal (PIP) joint angles. This provided a flexion trajectory closer to the voluntary flexion motion and avoided straining the interphalangeal coupling between the DIP and PIP joints. Finally, the proposed solution generated similar trajectories when applied to a stiff artificial finger (simulating spasticity). The results, therefore, demonstrate that the proposed approach is indeed an effective solution for the envisioned soft hand exoskeleton system.

[Impact of a simulated DIPJ Arthrodesis on Movement and Force Patterns]

PURPOSE

Distal interphalangeal joint (DIPJ) arthrodesis is a well-proven therapy for osteoarthritis in the DIPJ. Since the upper limb is effectively a linked chain which is moved by interlinked, joint-overlapping muscle-tendon units, impacts on movement and force patterns are expected to occur in response to arthrodesis. In this context, a real-time quantitative analysis has not been performed to date.

MATERIAL AND METHODS

Finger motion and force development during grasping were dynamically measured and quantitatively analyzed in 19 healthy volunteers with a simulated DIPJ arthrodesis using a TUB (Technische Universität Berlin) sensor glove during fist closure and evaluating two types of force grips compared with the physiological grip.

RESULTS

Typical motion patterns were found. During physiological fist closure, the average flexion angle was 71.5° in the metacarpophalangeal joint (MPJ), 76.8° in the proximal interphalangeal joint (PIPJ) and 37.3° in the distal interphalangeal joint (DIPJ). With DIPJ arthrodesis, the flexion angle decreased to 49.6° in the PIPJ, whereas it increased slightly to 77.3° in the MPJ. During force grip I, the average physiological flexion angles were 18.3° in the MPJ, 39.6° in the PIPJ and 42.6° in the DIPJ. With simulated DIPJ arthrodesis, the flexion angle in the MPJ increased to 28.4°, whereas it decreased to 25.2° in the PIPJ. Force grip II yielded physiological flexion angles of 30.9° in the MPJ, 36.6° in the PIPJ and 29.0° in the DIPJ. In response to simulated DIPJ arthrodesis, the angle in the MPJ increased to 34.4° while it decreased to 23.3° in the PIPJ. The forces measured with force grips were almost equally distributed under physiological conditions. In response to simulated DIPJ arthrodesis, the average decrease in the measured force of a finger was no more than 1.4%.

CONCLUSION

This study was the first to introduce a quantitative analysis of grasping with simulated DIPJ arthrodesis. Based on this analysis, the study demonstrates the dynamic interaction of the finger joints as well as force patterns on the individual finger rays of the hand in real-time.

[Effect of a single proximal interphalangeal Joint Fusion of the Index, Middle or Ring Finger on the Grip and Finger Force and Load Distribution in the Hand]

BACKGROUND

Due to the functional coupling of adjacent finger joints and the quadriga effect, arthrodesis of the proximal interphalangeal joint (PIPJ) can be assumed to lead to a different grip pattern resulting in altered force distribution of the hand.

PATIENTS AND METHOD

Ten patients with isolated arthrodesis of the PIPJ due to posttraumatic osteoarthritis (4×PIPJ II, 4×PIPJ III, 2×PIPJ IV) were assessed 59 (17-121) months postoperatively on average. The angle of arthrodesis was assessed by radiographs. Grip force and load distribution of both hands were measured by manugraphy using 3 differently sized cylinders. Grip force was separately assessed and compared for the whole hand as well as for each of the fingers and each phalanx.

RESULTS

Average total grip force of the affected hand compared to the uninjured opposite side was 74% (38-136%) for the small cylinder, 104% (68-180%) for the mid-sized cylinder and 110% (69%-240%) for the large cylinder. Arthrodesis of the PIPJ of the index finger led to a reduction of the grip force (91%) for the small cylinder, but increased grip force for the mid-sized (120%) and large cylinder (139%). Grip force was reduced for all cylinder sizes by arthrodesis of the PIPJ of the middle finger (56%, 88% and 91%). Arthrodesis of the PIPJ of the ring finger resulted in a grip force of 76%, 105% and 91%, respectively, for the different cylinder sizes.The finger force of the affected finger was reduced after arthrodesis of the PIPJ, with the exception of the index finger, which was stronger than the unaffected opposite finger when using the large cylinder. The force of the healthy fingers on the affected side was greater when compared with the same finger on the opposite side, which led to increased grip force for the mid-sized and the large cylinder of the affected hand. A reduction in load distribution was measured mostly for the middle phalanx but also for the distal phalanx of the operated-on finger.

CONCLUSION

Arthrodesis of the PIPJ almost always led to force reduction in the middle and distal phalanx of the affected finger. However, the total grip force of the hand was compensated by a higher force of the adjacent healthy fingers. In many cases, total grip force was even higher on the affected side. However, arthrodesis of the PIPJ resulted in a noticeable force reduction when smaller objects were gripped.

Design and Performance Evaluation of a Hybrid Hand Exoskeleton for Hand Opening/Closing

Finger extensor muscle weakness and flexor hypertonia are the most commonly reported issues among patients suffering from amyotrophic lateral sclerosis (ALS). Moreover, the relative hyperflexion of the wrist and fingers has limited their ability to voluntarily open the hand and interact with the external environment. In this work, a hybrid hand exoskeleton is developed to prevent the relative hyperflexion of the fingers and wrist and facilitate the users in their functional hand opening by compensating the flexor hypertonia. This exoskeleton, combining a passive device with the soft extra muscle (SEM) glove, assists users in normal hand opening/closing required for some basic activities of daily living. The paper presents kinematic and static models of passive hand exoskeleton design. Moreover, the proposed design is tested and evaluated by comparing the volunteer hand opening with the exoskeleton assistance using the flex sensors attached on the dorsal side of the middle finger, ring finger, and thumb with both healthy subjects and patients. The results show the effectiveness of using the hybrid exoskeleton in improving anatomical hand opening/closing capabilities.

A four-tendon robotic finger with tendon transmission inspired by the human extensor mechanism

This paper presents a tendon-driven robotic finger with its inspiration derived from the human extensor mechanism. The analytical model presented relates the contractions of the intrinsic muscles of the human hand to abduction-adduction and coordinated motion of proximal and distal interphalangeal joints. The design presented is simplified from the complex webs of fibers appearing in prior works, but preserves the dual role the interossei have of abducting/adducting the finger and flexing it at the metacarpal-phalangeal joint with the finger outstretched. The anatomical feature in our design is that the proximal interphalangeal joint passes through a set of lateral bands as the finger flexes. We discovered that by including a mechanical stop that causes the lateral bands to 'fold' at large enough flexion aids coordinated movements of the two interphalangeal joints as the finger flexes. Because it involves engineering running and sliding fits, this finger admits a concise kinematic model, which accurately predicts the tendon excursions from a known pose. In this work, however, we evaluate what happens when the model is used to search for a sequence of tendon excursions corresponding to a desired movement. We perform several such sequences of tendon excursions experimentally and present the poses that result using motion capture. We also demonstrate executing several types of grasps on an underactuated robotic hand that incorporates this finger design.

Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation

This paper aims to use bond graph modeling to create the most comprehensive finger tendon model and simulation to date. Current models are limited to either free motion without external contact or fixed finger force transmission between tendons and fingertip. The forward dynamics model, presented in this work, simultaneously simulates the kinematics of tendon-finger motion and contact forces of a central finger given finger tendon inputs. The model equations derived from bond graphs are accompanied by nonlinear relationships modeling the anatomical complexities of moment arms, tendon slacking, and joint range of motion (ROM). The structure of the model is validated using a robotic testbed, Utah's Anatomically correct Robotic Testbed (UART) finger. Experimental motion of the UART finger during free motion (no external contact) and surface contact are simulated using the bond graph model. The contact forces during the surface contact experiments are also simulated. On average, the model was able to predict the steady-state pose of the finger with joint angle errors less than 6 deg across both free motion and surface contact experiments. The static contact forces were accurately predicted with an average of 11.5% force magnitude error and average direction error of 12 deg.

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.

Two-finger exoskeleton with force feedback for a mobile robot teleoperation

In this work, the design, manufacturing, instrumentation, and application of a two-finger exoskeleton with force feedback are presented. The exoskeleton is based on remote center of motion mechanisms in order to avoid mechanical interference with the user’s fingers and is manufactured by three-dimensional printing. The developed exoskeleton is applied in a mobile robot teleoperation by mapping the finger movements in forward and turning commands for the robot. The presence of obstacles detected by the robot is sensed by the user by means of a feedback force. The problem of simultaneously communicating a data acquisition card and the robot hardware by MATLAB ® Simulink® was solved by using an external Wi-Fi module. The result is a lightweight exoskeleton which is able to communicate bidirectionally with a mobile robot by a personal computer for teleoperation tasks. The success of the system implementation is proven by a set of experiments presented in the final part of the article.

Bio-inspired tendon driven mechanism for simultaneous finger joints flexion using a soft hand exoskeleton

A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.5 times the distal interphalangeal joint angle. The study aimed to comply with this constraint, by simultaneously distributing the forces over the distal and middle finger phalanges. For evaluation, the voluntary and exoskeleton flexions were compared based on the relation between the proximal and distal interphalangeal joint angles. The results showed that during the exoskeleton flexion the relation between the interphalangeal joints complied with the biomechanical constraint, where the proximal interphalangeal joint angle was 1.5 times larger than the distal interphalangeal joint. This ensures that the mechanism flexes the finger comfortably. The proposed solution is therefore a promising design for a novel soft exoskeleton that will be used for training and assistance of patients with hand paralysis.

Toward Restoration of Normal Mechanics of Functional Hand Tasks Post-Stroke: Subject-Specific Approach to Reinforce Impaired Muscle Function

Robotic therapy enables mass practice of complex hand movements after stroke, but current devices generally enforce patients to reproduce prescribed kinematic patterns using rigid actuators, without considering individuals' unique impairment characteristics, thereby reducing their efficacy. In this paper, we tested the feasibility of a novel, theory-based "biomimetic" approach to restoring mechanics of complex hand tasks with subject-specific assistance patterns. Twelve chronic stroke survivors performed two simulated functional tasks: hand open and simulated pinch task (distal pad press). Assistance was provided by non-restraining actuators (exotendons) that counteracted 'subject-specific' impairments, identified during unassisted task performance. There was no constraint of movement to predefined patterns. Assistance patterns required to complete tasks were significantly different across subjects, reflecting high variability in impairment and required assistance patterns. For hand open, range of motion and interjoint coordination were significantly improved for severely impaired patients, while movement quality was enhanced (reduction in jerk) for those less impaired. For simulated pinch, subject-specific assistance restored task mechanics before injury, as patients were able to direct fingertip force toward the direction normal to surface; angular deviation reduced from 16.8°±10.4° to 3.7°±2.6°. Notably, electromyography data confirmed that subjects maintained an effort level under assistance comparable to unassisted conditions. The proposed method could lead to a novel paradigm for hand rehabilitation that restores complex task mechanics with a subject-specific assistance reflecting individual impairment characteristics while promoting subjects' participation.

Biomechanics and Pinch Force of the Index Finger Under Simulated Proximal Interphalangeal Arthrodesis

PURPOSE

To analyze the effect of simulated proximal interphalangeal (PIP) joint arthrodesis on distal interphalangeal (DIP) joint free flexion-extension (FE) and maximal voluntary pinch forces.

METHODS

Five healthy subjects were tested with the PIP joint unconstrained and constrained to selected angles to produce (1) free FE movements of the DIP joint at 2 selected angles of the metacarpophalangeal joint, and (2) maximal voluntary tip (thumb and index finger) and chuck (thumb, index, and middle fingers) pinch forces. Kinematic data from a motion analysis system, pinch force data from a mechanical pinch meter, and electromyography (EMG) data recorded from 2 flexor and extensor muscles of the index finger were collected during free FE movements of the DIP joint and pinch tests for distinct PIP joint constraint angles.

RESULTS

The EMG root mean square (RMS) values of the flexor digitorum profundus (FDP) and extensor digitorum (ED) did not change during free FE of the DIP joint. The extension angle of the range of motion of the DIP joint changed during free FE. It increased as the PIP constraint angle increased. The EMG RMS value of FDP and ED showed maximum values when the PIP joint was unconstrained and constrained at 0° to 20° of flexion during tip and chuck pinch. Neither the index finger metacarpophalangeal and DIP joint positions nor pinch force measurements differed with imposed PIP joint arthrodesis.

CONCLUSIONS

The PIP joint arthrodesis angle affects DIP joint extension. A minimal overall impact from simulated PIP arthrodesis in muscle activity and pinch force of the index finger was observed. The EMG RMS values of the FDP and ED revealed that a PIP arthrodesis at 0° to 20° of flexion leads to a more natural finger posture during tip and chuck pinch.

CLINICAL RELEVANCE

This study provided a quantitative comparison of free FE motion of the DIP joint, as well as FDP and ED forces during pinch, under simulated index finger PIP arthrodesis angles.

The biomechanical model of the long finger extensor mechanism and its parametric identification

The extensor mechanism of the finger is a structure transmitting the forces from several muscles to the finger joints. Force transmission in the extensor mechanism is usually modeled by equations with constant coefficients which are determined experimentally only for finger extension posture. However, the coefficient values change with finger flexion because of the extensor mechanism deformation. This induces inaccurate results for any other finger postures. We proposed a biomechanical model of the extensor mechanism represented as elastic strings. The model includes the main tendons and ligaments. The parametric identification of the model in extension posture was performed to match the distribution of the forces among the tendons to experimental data. The parametrized model was used to simulate three degrees of flexion. Furthermore, the ability of the model to reproduce how the force distribution in simulated extensor mechanism changes according to the muscle forces was also demonstrated. The proposed model could be used to simulate the extensor mechanism for any physiological finger posture for which the coefficients involved in the equations are unknown.

Assessment of Workspace Attributes Under Simulated Index Finger Proximal Interphalangeal Arthrodesis

This article presented an assessment of quantitative measures of workspace (WS) attributes under simulated proximal interphalangeal (PIP) joint arthrodesis of the index finger. Seven healthy subjects were tested with the PIP joint unconstrained (UC) and constrained to selected angles using a motion analysis system. A model of the constrained finger was developed in order to address the impact of the inclusion of prescribed joint arthrodesis angles on WS attributes. Model parameters were obtained from system identification experiments involving flexion-extension (FE) movements of the UC and constrained finger. The data of experimental FE movements of the constrained finger were used to generate the two-dimensional (2D) WS boundaries and to validate the model. A weighted criterion was formulated to define an optimal constraint angle among several system parameters. Results indicated that a PIP joint immobilization angle of 40-50 deg of flexion maximized the 2D WS. The analysis of the aspect ratio of the 2D WS indicated that the WS was more evenly distributed as the imposed PIP joint constraint angle increased. With the imposed PIP joint constraint angles of 30 deg, 40 deg, 50 deg, and 60 deg of flexion, the normalized maximum distance of fingertip reach was reduced by approximately 3%, 4%, 7%, and 9%, respectively.

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

BACKGROUND

Despite recent progress in motion capture technology, such as stereophotogrammetry based on the tracking of markers set on the subject, it remains challenging to develop a complete protocol for in-vivo functional evaluation of the hand. The current practical problems regarding small anatomical segments, such as the fingers, are mainly due to the high concentration of markers in a relatively reduced volume.

METHODS

This paper proposes a novel procedure for hand functional analysis by analysing finger behaviour along the main displacement plane simultaneously with combined motions. The objective was two-fold. For one thing, a novel data collection protocol was implemented, which includes specific setting of the motion capture system and the development of finger marker clusters. The second purpose of this study was to create a reference database of a healthy sample for further clinical investigation. Twenty healthy volunteers took part in the study. Analytical motions (flexion/extension and abduction/adduction) of all five fingers were recorded.

FINDINGS

Results showed good correspondence with the literature. Specific kinematic behaviour of each analysed joint is reported. Statistically significant differences were found between the right and left sides of the subjects for the flexion/extension movement only, between the finger joints and between the fingers for all movements. No significant difference was found between genders. A validation protocol was performed, which proved the validity of the presented methodology.

INTERPRETATION

The protocol appears suitable for further use in motion analysis and for musculoskeletal modelling of the hand. It will also be considered for clinical application.

3D analysis of the proximal interphalangeal joint kinematics during flexion

Background. Dynamic joint motion recording combined with CT-based 3D bone and joint surface data is accepted as a helpful and precise tool to analyse joint. The purpose of this study is to demonstrate the feasibility of these techniques for quantitative motion analysis of the interphalangeal joint in 3D. Materials and Method. High resolution motion data was combined with an accurate 3D model of a cadaveric index finger. Three light-emitting diodes (LEDs) were used to record dynamic data, and a CT scan of the finger was done for 3D joint surface geometry. The data allowed performing quantitative evaluations such as finite helical axis (FHA) analysis, coordinate system optimization, and measurement of the joint distances in 3D. Results. The FHA varies by 4.9 ± 1.7° on average. On average, the rotation in adduction/abduction and internal/external rotation were 0.3 ± 0.91° and 0.1 ± 0.97°, respectively. During flexion, a translational motion between 0.06 mm and 0.73 mm was observed. Conclusions. The proposed technique and methods appear to be feasible for the accurate assessment and evaluation of the PIP joint motion in 3D. The presented method may help to gain additional insights for the design of prosthetic implants, rehabilitation, and new orthotic devices.

Analysis and optimization of a wire actuated, single effect n-R robotic structure

This paper investigates the kinematics and the optimization of a generic robotic structure composed by N serial rotary joints and actuated with a mono-directional tendon system. In the first part of the paper, the specific case that brought us to develop this study is introduced; the main motivations and the scenario with its specific constraints and design choices have been described.

Since a complete and detailed analysis of an n-R serial structure with this kind of characteristics could not be found in the literature, the study of the kinematics and the parameter optimization of such a structure is treated as generally as possible, in order to make the procedure and the results applicable for any similar structure. Finally, in the last part, through the introduction of specific constraints and the definition of the parameters, the general analysis has been applied to the specific case of study: the preliminary study of a finger exoskeleton for an astronaut suit.

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.

A Novel Synthesis of Computational Approaches Enables Optimization of Grasp Quality of Tendon-Driven Hands

We propose a complete methodology to find the full set of feasible grasp wrenches and the corresponding wrench-direction-independent grasp quality for a tendon-driven hand with arbitrary design parameters. Monte Carlo simulations on two representative designs combined with multiple linear regression identified the parameters with the greatest potential to increase this grasp metric. This synthesis of computational approaches now enables the systematic design, evaluation, and optimization of tendon-driven hands.

Diagnosis and management of focal hand dystonia in a rheumatology practice

PURPOSE OF REVIEW

This article reviews current evidence on etiology, diagnosis and clinical management of patients with a challenging movement disorder referred to as focal hand dystonia (FHd).

RECENT FINDINGS

Patients who present to a rhematologist with a history of repetitive overuse, weakness, pain and involuntary, end-range posturing of the digits when performing a target task may have FHd. The etiology is considered idiopathic and multifactorial. There are no specific laboratory or clinical tests to 'rule in' or 'rule out' the diagnosis. Comparative neuroimaging studies report inadequate inhibition and aberrant sensory and motor processing in patients with FHd. This movement disorder can be recalcitrant to recovery. Current research evidence supports the benefit of quieting muscle contractions with botulinum toxin injections, modifying ergonomics, performance biomechanics, lifestyle, stress, health, personality and practice behaviors and simultaneously beginning a progressive brain-retraining program.

SUMMARY

Rheumatologist can facilitate effective management of patients with FHd by making an early, accurate diagnosis, providing patient education about the etiology and risk factors associated with the disorder, managing medications and identifying a team to oversee learning-based sensory and motor retraining.

Reverse engineering finger extensor apparatus morphology from measured coupled interphalangeal joint angle trajectories - a generic 2D kinematic model

The interphalangeal (IP) finger joints coordinate as a mechanism when the deep flexor is active. This mechanism is created by the complex finger extensor apparatus (EA) - a confluence of end tendons of one or two extensors, radial and ulnar interossei, and lumbrical - which inserts as a single structure into both the middle and distal phalanges. Although the IP-coupling principle was well demonstrated more than half a century ago, the detailed relationship between EA morphology and IP coupling remains not well described. Main reasons are that by dissection the EA's fiber network loses functional consistency, while fibers becoming taut or slack beyond measuring resolutions complicate measuring functional fiber motions. To circumvent these difficulties, we present a two dimensional kinematic multi tendon-string EA model of fiber slackness and tautness through IP motion, including the retinacular and oblique retinacular EA ligaments. The model parameters were the strings' lengths and attachment points. The model's functional redundancies were resolved by individually interactively fitting model IP trajectories to previously measured IP trajectories of 68 fingers. All model trajectories accurately fitted their target IP trajectories for proximal interphalangeal (PIP) joint ranges smaller than 25° to 45°; about half accurately fitted over the entire IP range with the remaining half having maximum approximation errors between 3° to 12°, while all models again converged to target trajectories for full IP flexion. These accuracies suggest the model reflects real functional EA principles, with potential applications in biomechanical modeling, surgical reconstruction, rehabilitation, and prosthetic EA replacements.