A musculoskeletal model of the hand and wrist: model definition and evaluation

4D dynamic system for visual-motor integration analysis

It is very important to evaluate visual-motor integration (VMI), as it is used as an index to evaluate cognitive abilities. However, it is difficult to use the existing paper-based tests to evaluate the dynamic process, including spatial and depth perception abilities. Therefore, this study aims to extract kinematic and dynamic features for dynamic assessment for VMI. We propose a 4D dynamic analysis system that implements a VMI test in a virtual space using Leap motion controller and Unity3D and acquires the time-series data of hand joints and traces. We selected three categories of features: postural control ability, spatial and depth perception ability, and 4D analysis. The degree and patterns of postural maintenance differed between subjects in the VMI and MC tests. In addition, the personal patterns were identified with dynamic features, including their fluency and hesitation in relation to the task figures of the VMI test tool. As such, this system enables dynamic feature extraction and analysis which were previously impossible and presents performance results for healthy adults.

From Human Hand to Grasp Surface Detection, Tracking & Analysis

Hands are paramount for dexterous interactions that humans exhibit in daily life. Understanding the intricacies of human hand-object interactions is therefore necessary. Unfortunately, the limitations of state-of-the-art technologies make capturing the full hand-object complexity unfeasible, giving rise to the need for new technological means to achieve this aim. In this work, we propose an end-to-end framework in which individualized hand models are derived and used to capture quantitative personalized hand-object interaction information, precisely, hand shape, kinematics, and contact surfaces. The results of this study serve as a proof of concept that such a framework can significantly deepen personalized hand-object interaction analyses, providing, in perspective, insights for medical diagnoses and rehabilitation, among others.Clinical relevance- Our work showcases the need to incorporate bespoke human hand models in individualized hand function assessment technologies, as hand-object interaction information is subject-dependent.

A Musculoskeletal Model of the Hand and Wrist Capable of Simulating Functional Tasks

OBJECTIVE

The purpose of this work was to develop an open-source musculoskeletal model of the hand and wrist and to evaluate its performance during simulations of functional tasks.

METHODS

The current model was developed by adapting and expanding upon existing models. An optimal control theory framework that combines forward-dynamics simulations with a simulated-annealing optimization was used to simulate maximum grip and pinch force. Active and passive hand opening were simulated to evaluate coordinated kinematic hand movements.

RESULTS

The model's maximum grip force production matched experimental measures of grip force, force distribution amongst the digits, and displayed sensitivity to wrist flexion. Simulated lateral pinch strength replicated in vivo palmar pinch strength data. Additionally, predicted activations for 7 of 8 muscles fell within variability of EMG data during palmar pinch. The active and passive hand opening simulations predicted reasonable activations and demonstrated passive motion mimicking tenodesis, respectively.

CONCLUSION

This work advances simulation capabilities of hand and wrist models and provides a foundation for future work to build upon.

SIGNIFICANCE

This is the first open-source musculoskeletal model of the hand and wrist to be implemented during both functional kinetic and kinematic tasks. We provide a novel simulation framework to predict maximal grip and pinch force which can be used to evaluate how potential surgical and rehabilitation interventions influence these functional outcomes while requiring minimal experimental data.

The effect of different grasping types on strain distributions in the trapezium of bonobos (Pan paniscus)

The thumb has played a key role in primate evolution due to its involvement in grasping and manipulation. A large component of this wide functionality is by virtue of the uniquely shaped trapeziometacarpal (TMC) joint. This TMC joint allows for a broad range of functional positions, but how its bone structure is adapted to withstand such a large variety of loading regimes is poorly understood. Here, we outline a novel, integrated finite element - micro finite element (FE-µFE) workflow to analyse strain distributions across the internal bony architecture. We have applied this modelling approach to study functional adaptation in the bonobo thumb. More specifically, the approach allows us to evaluate how strain is distributed through the trapezium upon loading of its distal articular facet. As loading conditions, we use pressure distributions for different types of grasping that were estimated in a previous study. Model evaluation shows that the simulated strain values fall within realistic boundaries of the mechanical response of bone. The results show that the strain distributions between the simulated grasps are highly similar, with dissipation towards the proximo-ulnar cluster of trabeculae regardless of trapezial bone architecture. This study presents an innovative FE-µFE approach to simulating strain distributions, and yields insight in the functional adaptation of the TMC joint in bonobos.

Prediction of anatomically and biomechanically feasible precision grip posture of the human hand based on minimization of muscle effort

We developed a method to estimate a biomechanically feasible precision grip posture of the human hand for a given object based on a minimization of the muscle effort. The hand musculoskeletal model was constructed as a chain of 21 rigid links with 37 intrinsic and extrinsic muscles. To grasp an object, the static force and moment equilibrium condition of the object, force balance between the muscle and fingertip forces, and static frictional conditions must be satisfied. We calculated the hand posture, fingertip forces, and muscle activation signals for a given object to minimize the square sum of the muscle activations while satisfying the above kinetic constraints using an evolutionary optimization technique. To evaluate the estimated hand posture and fingertip forces, a wireless fingertip force-sensing device with two six-axis load cells was developed. When grasping the object, the fingertip forces and hand posture were experimentally measured to compare with the corresponding estimated values. The estimated hand postures and fingertip forces were in reasonable agreement to the corresponding measured data, indicating that the proposed hand posture estimation method based on the minimization of muscle effort is effective for the virtual ergonomic assessment of a handheld product.

Musculoskeletal Modeling and Inverse Dynamic Analysis of Precision Grip in the Japanese Macaque

Toward clarifying the biomechanics and neural mechanisms underlying coordinated control of the complex hand musculoskeletal system, we constructed an anatomically based musculoskeletal model of the Japanese macaque (Macaca fuscata) hand, and then estimated the muscle force of all the hand muscles during a precision grip task using inverse dynamic calculation. The musculoskeletal model was constructed from a computed tomography scan of one adult male macaque cadaver. The hand skeleton was modeled as a chain of rigid links connected by revolute joints. The path of each muscle was defined as a series of points connected by line segments. Using this anatomical model and a model-based matching technique, we constructed 3D hand kinematics during the precision grip task from five simultaneous video recordings. Specifically, we collected electromyographic and kinematic data from one adult male Japanese macaque during the precision grip task and two sequences of the precision grip task were analyzed based on inverse dynamics. Our estimated muscular force patterns were generally in agreement with simultaneously measured electromyographic data. Direct measurement of muscle activations for all the muscles involved in the precision grip task is not feasible, but the present inverse dynamic approach allows estimation for all the hand muscles. Although some methodological limitations certainly exist, the constructed model analysis framework has potential in clarifying the biomechanics and neural control of manual dexterity in macaques and humans.

Trapeziometacarpal joint loading during key pinch grip: A cadaver study

To our knowledge, no study has directly measured the loads in the trapeziometacarpal joint during an isometric key pinch. The aim of this study was to measure the load acting on the trapeziometacarpal joint for increasingly greater key pinch forces (0.5 kg-1.5 kg). We performed a cadaver study using 10 fresh-frozen, unembalmed adult forearms and hands (5 right and 5 left). Thumb pinch was simulated by loading the main actuator tendons involved in the key pinch grip (i.e., adductor pollicis, flexor pollicis longus, extensor pollicis longus, extensor pollicis brevis and abductor pollicis longus tendons). Measurements were made inside the joint using a force-sensing resistor sensor (Tekscan® FlexiForce™ force sensor). All specimens were tested twice in a row in the same condition. The median load values recorded in the trapeziometacarpal joint were 1.9 kg (IQR 2.2-1.5), 3 kg (IQR 3.4-2.7) and 4.1 kg (IQR 4.4-3.9) during 0.5 kg, 1 kg, and 1.5 kg key pinch, respectively. For each specimen, similar load values were observed during both loading trials. Our findings indicate that the loads measured directly in the trapeziometacarpal joint during a simple key pinch are materially lower than those estimated in biomechanical models of the thumb (generally greater than 10 kg for 1 kg of applied force) probably due to intersubject variability. This pilot study will serve as a basis for further studies, for example, comparing biomechanical thumb models and experimental measurements under the same set-up conditions.

Synergies at the level of motor units in single-finger and multi-finger tasks

We explored the organization of motor units recorded in the flexor digitorum superficialis into stable groups (MU-modes) and force-stabilizing synergies in spaces of MU-modes. Young, healthy participants performed one-finger and three-finger accurate cyclical force production tasks. Two wireless sensor arrays (Trigno Galileo, Delsys, Inc.) were placed over the proximal and distal portions of the muscle for surface recording and identification of motor unit action potentials. Principal component analysis with Varimax rotation and factor extraction was used to identify MU-modes. The framework of the uncontrolled manifold hypothesis was used to analyze inter-cycle variance in the space of MU-modes and compute the index of force-stabilizing synergy. Multiple linear regression between the first MU-mode in the three-finger task and the first MU-modes in the three single-finger tasks showed no differences between the data recorded by the two electrodes suggesting that MU-modes were unlikely to be synonymous with muscle compartments. Multi-MU-mode synergies stabilizing task force were documented across all tasks. In contrast, there were no force-stabilizing synergies in the three-finger task analyzed in the space of individual finger forces. Our results confirm the synergic organization of motor units in single-finger tasks and, for the first time, expand this result to multi-finger tasks. We offer an interpretation of the findings within the theoretical scheme of control with spatial referent coordinates expanded to the analysis of individual motor units. The results confirm trade-offs between synergies at different hierarchical levels and expand this notion to intra-muscle synergies.

The Ideal Insertion Site for the Flexor Digitorum Profundus Tendon in Jersey Finger Repair: A Biomechanical Analysis

PURPOSE

Most jersey finger repair techniques involve reattaching the tendon to an approximate location corresponding to the tendon's native attachment. This study aimed to determine the biomechanical effect on the distal interphalangeal joint flexion forces and range of motion when the flexor digitorum profundus (FDP) tendon attachment site on the distal phalanx is altered within its broad footprint.

METHODS

We fixed 14 fresh-frozen cadaveric fingers to a wooden block with an attached pulley and weights system. A pressure mapping sensor placed under the fingertip measured the contact force and area in response to FDP tendon loading for the intact tendon and 3 repair sites along the FDP footprint. Two-way repeated-measures analysis of variance test using mixed-effect model was performed to test the influences of attachment location (intact, proximal, central, and distal) and digit (index, middle, and ring) on the outcomes.

RESULTS

Mean ± SD contact force under 45 N tendon loading force was 43.5 ± 7.2 N for the intact tendon, 34.6 ± 7.4 N for the proximal insertion, 38.0 ± 7.1 N for the central insertion, and 43.1 ± 6.3 N for the distal insertion. Compared with the intact tendon, the proximal group generated notably less contact force. No significant difference was detected between the intact tendon and the central or distal repairs. Comparisons among the 3 repair groups show that the distal group generated significantly higher force than the proximal group. There was no difference between contact areas across all groups.

CONCLUSIONS

The FDP tendon inserted at the distal edge of its footprint conferred significantly greater distal interphalangeal joint flexion force compared with the proximal insertion site and most closely resembled the intact FDP tendon.

CLINICAL RELEVANCE

Biomechanically, distal reattachment of the FDP most closely approximates the contact force of the native anatomy and may help guide intraoperative placement of the repair footprint.

The moment arms and leverage of the human finger muscles

The moment arm of a muscle's force represents the muscle's leverage or mechanical advantage in producing a joint moment. It is indicative of the muscle's potential to contribute to actuation of a joint in a particular joint motion direction and defines the role of the muscle, for example, as a joint flexor or abductor. The aims of this study were, firstly, to measure the moment arms of the flexor and extensor muscles of the metacarpophalangeal (MCP), proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints, and the moment arms of the major abductor and adductor muscles of the metacarpophalangeal (MCP) joint of each finger in the hand; secondly, to assess the effect of change in joint angle on these moment arms; and thirdly, to determine if there are differences in a given flexor or extensor's muscle moment arms between the joints it spans on a given finger, and across its tendon slips to multiple fingers. The tendon-excursion method was used to measure instantaneous muscle moment arms in nine fresh-frozen entire forearm cadaver specimens. Joint flexion angle was found to have significant effects on the moment arms of the extensor muscles at the MCP and PIP joints (p < 0.05). In contrast, the digital flexor muscles maintained relatively constant moment arms through the range of joint flexion. The moment arms of the digital flexors and extensors spanning multiple joints in a finger were largest at the MCP joints and smallest at the DIP joints. The findings demonstrate greater torque generating capacity for tasks such as grasping at the proximal interphalangeal joints, and smaller torque capacity for finer movement control at the distal interphalangeal joints. The dataset generated in this study may be useful in the development and validation of computational models used in surgical planning, and rehabilitation.

Development of a musculoskeletal model of the wrist to predict frictional work dissipated due to tendon gliding resistance in the carpal tunnel

Carpal tunnel syndrome is an entrapment neuropathy that has been associated with the aggravation of tendon gliding resistance due to forceful, high velocity, awkwardly angled, and repetitive wrist motions. Cadaveric and epidemiological studies have shown that combinations of these risk factors have a more than additive effect. The aim of the current study was to develop a musculoskeletal model of the wrist that could evaluate these risk factors by simulating frictional work dissipated due to the gliding resistance of the third flexor digitorum superficialis tendon. Three flexion angle zones, three extension angle zones, five levels of task repetitiveness, and five levels of task effort were derived from ergonomic standards. Of the simulations performed by systematically combining these parameters, the extreme wrist flexion zone, at peak task repetitiveness and effort, dissipated the most frictional work. This zone dissipated approximately double the amount of frictional work compared to its equivalent zone in extension. For all motions, a multiplicative effect of the combination of task repetitiveness and effort on frictional work was identified by the musculoskeletal model, corroborating previous epidemiological and experimental studies. Overall, these results suggest that the ergonomic standards for wrist flexion-extension may need to be adjusted to reflect equivalent biomechanical impact and that workplace tasks should be designed to minimise exposure to combinations of highly repetitive and highly forceful work, especially when the wrist is highly flexed.

A new musculoskeletal AnyBody™ detailed hand model

Musculoskeletal research questions regarding the prevention or rehabilitation of the hand can be addressed using inverse dynamics simulations when experiments are not possible. To date, no complete human hand model implemented in a holistic human body model has been fully developed. The aim of this work was to develop, implement, and validate a fully detailed hand model using the AnyBody Modelling System (AMS) (AnyBody, Aalborg, Denmark). To achieve this, a consistent multiple cadaver dataset, including all extrinsic and intrinsic muscles, served as a basis. Various obstacle methods were implemented to obtain with the correct alignment of the muscle paths together with the full range of motion of the fingers. These included tori, cylinders, and spherical ellipsoids. The origin points of the lumbrical muscles within the tendon of the flexor digitorum profundus added a unique feature to the model. Furthermore, the possibility of an entire patient-specific scaling based on the hand length and width were implemented in the model. For model validation, experimental datasets from the literature were used, which included the comparison of numerically calculated moment arms of the wrist, thumb, and index finger muscles. In general, the results displayed good comparability of the model and experimental data. However, the extrinsic muscles showed higher accordance than the intrinsic ones. Nevertheless, the results showed, that the proposed developed inverse dynamics hand model offers opportunities in a broad field of applications, where the muscles and joint forces of the forearm play a crucial role.

Modelling force-length-activation relationships of wrist and finger extensor muscles

The wrist and finger extensors play a crucial role in the muscle coordination during grasping tasks. Nevertheless, few data are available regarding their force-generating capacities. The objective of this study was to provide a model of the force-length-activation relationships of the hand extensors using non-invasive methods. The extensor carpi radialis (ECR) and the extensor digitorum communis (EDC) were studied as representative of wrist and finger extensors. Ten participants performed isometric extension force-varying contractions in different postures on an ergometer recording resultant moment. The joint angle, the myotendinous junction displacement and activation were synchronously tracked using motion capture, ultrasound and electromyography. Muscle force was estimated via a musculoskeletal model using the measured joint angle and moment. The force-length-activation relationship was then obtained by fitting a force-length model at different activation levels to the measured data. The obtained relationships agreed with previously reported data regarding muscle architecture, sarcomere length and activation-dependent shift of optimal length. Muscle forces estimated from kinematics and electromyography using the force-length-activation relationships were comparable, below 15% differences, to those estimated from moment via the musculoskeletal model. The obtained quantitative data provides a new insight into the different muscle mechanics of finger and wrist extensors. Graphical abstract By combining in vivo data (kinematics, dynamometry, electromyography, ultrasonography) during isometric force-varying contractions with musculoskeletal modelling, the force-length-activation relationships of both finger and wrist extensors were obtained. The results provided a new insight into the role of hand extensors in the generation and control of hand movements.

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

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