A kinematic technique for describing wrist joint motion: analysis of configuration space plots

Anatomy, Biomechanics, and Loads of the Wrist Joint

The wrist is by far the most differentiated section of the musculoskeletal system. The spectrum of wrist injuries ranges from minor injuries to complex traumas with simultaneous loss of functions, resulting in enormous economic costs. A proper understanding of the anatomy and biomechanics is essential for effective treatment, whether conservative or surgical; this applies to the wrist no less than to other parts of the human body. Here; information on the wrist anatomy; kinematics; and biomechanical behavior is presented, commencing with a brief explanation of the structure of its hard and soft tissues. Eight carpal bones in combination with two forearm bones (radius and ulna) construct the wrist joint. The motion of the wrist joint is initiated by the muscles of the forearm, and strong and short ligaments ensure the stability of the wrist. All of these components are essential to bringing functions to the wrist joint because these structures allow wrist mobility and sustainability. In addition, the kinematics of the wrist joint is presented and different biomechanical model approaches. The therapeutic (surgical) restoration of the balance between the load–bearing capacity and the actual stress on a joint is the prerequisite for a lifelong and trouble-free function of a joint. Regarding the complex clinical problems, however, a valid biomechanical wrist joint model would be necessary as assistance, to improve the success of systematized therapies based on computer–aided model–based planning and intervention.

Design and evaluation of a high-performance haptic interface

A haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face.

As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.

Comparison of measurement accuracy between two wrist goniometer systems during pronation and supination

Pronation and supination have been shown to affect wrist goniometer measurement accuracy. The purpose of this study was to compare differences in measurement accuracy between a commonly used biaxial, single transducer wrist goniometer (System A) and a biaxial, two-transducer wrist goniometer (System B) over a wide range of pronation and supination (P/S) positions. Eight subjects moved their wrist between -40 and 40 degrees of flexion/extension (F/E) and -10 and 20 degrees of radial/ulnar (R/U) deviation in four different P/S positions: 90 degrees pronation; 45 degrees pronation; 0 degrees neutral and 45 degrees supination. System A was prone to more R/U crosstalk than System B and the amount of crosstalk was dependent on the P/S position. F/E crosstalk was present with both goniometer systems and was also shown to be dependent on P/S. When moving from pronation to supination, both systems experienced a similar extension offset error; however R/U offset errors were roughly equal in magnitude but opposite in direction. The calibration position will affect wrist angle measurements and the magnitude and direction of measurement errors. To minimize offset errors, the goniometer systems should be calibrated in the P/S posture most likely to be encountered during measurement. Differences in goniometer design and application accounted for the performance differences.

Comparison of measurement accuracy between two types of wrist goniometer systems

Studies have shown that wrist goniometers are prone to measurement errors, particularly due to crosstalk. This study compared two wrist goniometer systems: a commonly used biaxial, single transducer (System A) and a biaxial, two-transducer (System B). Wrist angles, range of movement and crosstalk results were compared. With the wrist in 90 degrees of pronation, eight subjects were placed in 20 different wrist postures between -40 degrees and 40 degrees of flexion/extension and between -10 degrees and 20 degrees of deviation. Relative to System B, System A had larger measurement errors and was more prone to crosstalk. There may be two sources of crosstalk: (1) intrinsic crosstalk associated with the design, application and twisting of the goniometer transducer when on the wrist, and (2) extrinsic crosstalk associated with the anatomy and complex movement of the wrist joint. It appears that the majority of the radial/ulnar crosstalk measured with System A was intrinsic crosstalk due to the twisting of the goniometer transducer.

Directional tuning of human forearm muscle afferents during voluntary wrist movements

1. Single unit activity was recorded with the microneurography technique from sixteen spindle afferents and one Golgi tendon organ afferent originating from the forearm extensor muscles. Impulse rates were studied while subjects performed unobstructed aiming movements at the wrist in eight different directions 45 deg apart. In addition, similar imposed movements were performed while the subject was instructed to remain relaxed. Movement amplitudes were about 5 deg and the speed 10-30 deg x s(-1). Joint movements were translated to movements of a cursor on a monitor to provide visual feedback. 2. Individual spindle afferents modulated their activity over a number of targets, i.e. were broadly tuned, during these aiming movements. The preferred direction for a spindle afferent was the same during both passive and active movements, indicating that the fusimotor effects associated with active contractions had little or no effect on the direction of tuning. 3. The direction of tuning of individual spindle afferents could be predicted from the biomechanically inferred length changes of the parent muscle. Thus spindle afferents responded as stretch receptors, i.e. impulse rates increased with lengthening and decreased with shortening, in active as well as passive movements. 4. Spindles from muscles, which continuously counteracted gravity exhibited a stretch response and directional tuning during the phase of movement alone whereas their position sensitivity was poor. In contrast, spindle afferents from the muscles that had no or minimal antigravity role were directionally tuned during both the dynamic and the static phase of the aiming task and their position sensitivity was substantially higher. 5. In spite of the limited data base from three extensor muscles it could be demonstrated that wrist joint position was remarkably well encoded in the ensemble muscle spindle data. In some cases the ensemble muscle spindle data encoded the instantaneous trajectory of movement as well.

Review of arm motion analyses

Interest in arm movements has increased tremendously in recent years. This interest has been motivated by different goals: the desire for a more scientific approach to replacement or support of the joints of the upper limb, the need for input to biomechanical computer models, and the clinical interest in comparing normal movements with pathological movements. The availability of commercial marker-tracking systems has facilitated achieving these goals. However, the complex nature of arm movements and the lack of standardized movements raises many challenges. In comparison with gait analysis, few arm motion analyses have been conducted. The purpose of this review is to aid researchers and clinicians interested in conducting an arm motion study in choosing the appropriate methodology. This is accomplished both by describing the methods used in past investigations and by highlighting important findings. Due to the variety of research goals, there is sometimes more than one appropriate method and the choice is left to the reader. Nevertheless, since it is extremely desirable to record and express the data in a standardized way, standardization proposals are described. This review, which focuses on methodology rather than results, addresses the following topics: motivations and tasks studied, tracking methods, the shoulder complex, joint centres and rotation axes, marker positions, coordinate system definitions, terminology and rotations, accuracy, and presentation methods.