Electromyography and kinematics data of the hand in activities of daily living with special interest for ergonomics

This work presents a dataset of human hand kinematics and forearm muscle activation collected during the performance of a wide variety of activities of daily living (ADLs), with tagged characteristics of products and tasks. A total of 26 participants performed 161 ADLs selected to be representative of common elementary tasks, grasp types, product orientations and performance heights. 105 products were used, being varied regarding shape, dimensions, weight and type (common products and assistive devices). The data were recorded using CyberGlove instrumented gloves on both hands measuring 18 degrees of freedom on each and seven surface EMG sensors per arm recording muscle activity. Data of more than 4100 ADLs is presented in this dataset as MATLAB structures with full continuous recordings, which may be used in applications such as machine learning or to characterize healthy human hand behaviour. The dataset is accompanied with a custom data visualization application (ERGOMOVMUS) as a tool for ergonomics applications, allowing visualization and calculation of aggregated data from specific task, product and/or participants' characteristics.

The BE-UJI hand function activity set: a reduced set of activities for the evaluation of the healthy and pathological hand

BACKGROUND

Hand kinematics during hand function tests based on the performance of activities of daily living (ADLs) can provide objective data to determine patients' functional loss. However, they are rarely used during clinical assessments because of their long duration. Starting with the 20 Sollerman Hand Function Test (SHFT) tasks, we propose identifying a reduced set of ADLs that provides similar kinematic information to the original full set in terms of synergies, ranges of motion and velocities.

METHODS

We followed an iterative method with the kinematics of 16 hand joints while performing the 20 ADLs of the SHFT. For each subject, ADLs were ordered according to their influence on the synergies obtained by means of a principal component analysis, the minimum number of ADLs that represented the original kinematic synergies (maximum angle of 30° between synergies), and the maintained ranges of joint movements (85% of the original ones) were selected for each subject. The set of the most frequently selected ADLs was verified to be representative of the SHFT ADLs in terms of motion strategies, ranges of motion and joint velocities when considering healthy subjects and Hand Osteoarthritis patients.

RESULTS

A set of 10 tasks, the BE-UJI activity set, was identified by ensuring a certain (minimum) similarity in synergy (maximum mean angle between synergies of 25.5°), functional joint ranges (maximum differences of 10°) and joint velocities (maximum differences of 15°/s). The obtained tasks were: pick up coins from purses, lift wooden cubes, pick up nuts and turn them, write with a pen, cut with a knife, lift a telephone, unscrew jar lids and pour water from a cup, a jar and a Pure-Pak. These activities guarantee using the seven commonest handgrips in ADLs.

CONCLUSION

The BE-UJI activity set for the hand function assessment can be used to obtain quantitative data in clinics as an alternative to the SHFT. It reduces the test time and allows clinicians to obtain objective kinematic data of the motor strategies, ranges of motion and joint velocities used by patients.

Impact of hand osteoarthritis in women on maximal forces in six different grasp types

This work aims to: (1) Provide maximal hand force data on six different grasp types for healthy subjects; (2) detect grasp types with maximal force significantly affected by hand osteoarthritis (HOA) in women; (3) look for predictors to detect HOA from the maximal forces using discriminant analyses. Thirty-three healthy subjects (37 ± 17 years, 17 women, 16 men) and 30 HOA patients (72 ± 9 years, all women) participated in the experiment. Participants were asked to exert their maximal force while performing six different grasp types 3 times. Two MANOVAs were conducted to detect if force depended on gender in healthy participants and if force significantly diminished in women with HOA. Finally, a linear discriminant analysis for detecting HOA was performed using forces of the grasp types that were significantly affected by HOA. Gender-disaggregated statistics are provided for healthy participants. Significant differences are obtained for all grasp types per gender. The women with HOA exerted significantly lower force values (p < 0.001) for all the grasp types than healthy ones. The discriminant analysis revealed that oblique grasp was the most significant one for detecting HOA. A discrimination equation was obtained with a specificity of 88.2% and a sensitivity of 83.3%. This work provides grip force data on six grasp types for healthy participants and for women with HOA. HOA women present reduced strength in all grasps due to pathology. Three of these grasps are a novelty. Oblique grasp strength may suffice to discriminate a patient with HOA, which might help non-invasive HOA detection.

Foot Sole Contact Forces vs. Ground Contact Forces to Obtain Foot Joint Moments for In-Shoe Gait-A Preliminary Study

In-shoe models are required to extend the clinical application of current multisegment kinetic models of the bare foot to study the effect of foot orthoses. Work to date has only addressed marker placement for reliable kinematic analyses. The purpose of this study is to address the difficulties of recording contact forces with available sensors. Ten participants walked 5 times wearing two different types of footwear by stepping on a pressure platform (ground contact forces) while wearing in-shoe pressure sensors (foot sole contact forces). Pressure data were segmented by considering contact cells' anteroposterior location, and were used to compute 3D moments at foot joints. The mean values and 95% confidence intervals were plotted for each device per shoe condition. The peak values and times of forces and moments were computed per participant and trial under each condition, and were compared using mixed-effect tests. Test-retest reliability was analyzed by means of intraclass correlation coefficients. The curve profiles from both devices were similar, with higher joint moments for the instrumented insoles at the metatarsophalangeal joint (~26%), which were lower at the ankle (~8%) and midtarsal (~15%) joints, although the differences were nonsignificant. Not considering frictional forces resulted in ~20% lower peaks at the ankle moments compared to previous studies, which employed force plates. The device affected both shoe conditions in the same way, which suggests the interchangeability of measuring joint moments with one or the other device. This hypothesis was reinforced by the intraclass correlation coefficients, which were higher for the peak values, although only moderate-to-good. In short, both considered alternatives have drawbacks. Only the instrumented in-soles provided direct information about foot contact forces, but it was incomplete (evidenced by the difference in ankle moments between devices). However, recording ground reaction forces offers the advantage of enabling the consideration of contact friction forces (using force plates in series, or combining a pressure platform and a force plate to estimate friction forces and torque), which are less invasive than instrumented insoles (which may affect subjects' gait).

Toward Early and Objective Hand Osteoarthritis Detection by Using EMG during Grasps

The early and objective detection of hand pathologies is a field that still requires more research. One of the main signs of hand osteoarthritis (HOA) is joint degeneration, which causes loss of strength, among other symptoms. HOA is usually diagnosed with imaging and radiography, but the disease is in an advanced stage when HOA is observable by these methods. Some authors suggest that muscle tissue changes seem to occur before joint degeneration. We propose recording muscular activity to look for indicators of these changes that might help in early diagnosis. Muscular activity is often measured using electromyography (EMG), which consists of recording electrical muscle activity. The aim of this study is to study whether different EMG characteristics (zero crossing, wavelength, mean absolute value, muscle activity) via collection of forearm and hand EMG signals are feasible alternatives to the existing methods of detecting HOA patients' hand function. We used surface EMG to measure the electrical activity of the dominant hand's forearm muscles with 22 healthy subjects and 20 HOA patients performing maximum force during six representative grasp types (the most commonly used in ADLs). The EMG characteristics were used to identify discriminant functions to detect HOA. The results show that forearm muscles are significantly affected by HOA in EMG terms, with very high success rates (between 93.3% and 100%) in the discriminant analyses, which suggest that EMG can be used as a preliminary step towards confirmation with current HOA diagnostic techniques. Digit flexors during cylindrical grasp, thumb muscles during oblique palmar grasp, and wrist extensors and radial deviators during the intermediate power-precision grasp are good candidates to help detect HOA.

Studying kinematic linkage of finger joints: estimation of kinematics of distal interphalangeal joints during manipulation

The recording of hand kinematics during product manipulation is challenging, and certain degrees of freedom such as distal interphalangeal (DIP) joints are difficult to record owing to limitations of the motion capture systems used. DIP joint kinematics could be estimated by taking advantage of its kinematic linkage with proximal interphalangeal (PIP) and metacarpophalangeal joints. This work analyses this linkage both in free motion conditions and during the performance of 26 activities of daily living. We have studied the appropriateness of different types of linear regressions (several combinations of independent variables and constant coefficients) and sets of data (free motion and manipulation data) to obtain equations to estimate DIP joints kinematics both in free motion and manipulation conditions. Errors that arise when estimating DIP joint angles assuming linear relationships using the equations obtained both from free motion data and from manipulation data are compared for each activity of daily living performed. Estimation using manipulation condition equations implies a lower mean absolute error per task (from 5.87° to 13.67°) than using the free motion ones (from 9° to 17.87°), but it fails to provide accurate estimations when passive extension of DIP joints occurs while PIP is flexed. This work provides evidence showing that estimating DIP joint angles is only recommended when studying free motion or grasps where both joints are highly flexed and when using linear relationships that consider only PIP joint angles.

A Systematic Review of EMG Applications for the Characterization of Forearm and Hand Muscle Activity during Activities of Daily Living: Results, Challenges, and Open Issues

The role of the hand is crucial for the performance of activities of daily living, thereby ensuring a full and autonomous life. Its motion is controlled by a complex musculoskeletal system of approximately 38 muscles. Therefore, measuring and interpreting the muscle activation signals that drive hand motion is of great importance in many scientific domains, such as neuroscience, rehabilitation, physiotherapy, robotics, prosthetics, and biomechanics. Electromyography (EMG) can be used to carry out the neuromuscular characterization, but it is cumbersome because of the complexity of the musculoskeletal system of the forearm and hand. This paper reviews the main studies in which EMG has been applied to characterize the muscle activity of the forearm and hand during activities of daily living, with special attention to muscle synergies, which are thought to be used by the nervous system to simplify the control of the numerous muscles by actuating them in task-relevant subgroups. The state of the art of the current results are presented, which may help to guide and foster progress in many scientific domains. Furthermore, the most important challenges and open issues are identified in order to achieve a better understanding of human hand behavior, improve rehabilitation protocols, more intuitive control of prostheses, and more realistic biomechanical models.

Synergy-Based Sensor Reduction for Recording the Whole Hand Kinematics

Simultaneous measurement of the kinematics of all hand segments is cumbersome due to sensor placement constraints, occlusions, and environmental disturbances. The aim of this study is to reduce the number of sensors required by using kinematic synergies, which are considered the basic building blocks underlying hand motions. Synergies were identified from the public KIN-MUS UJI database (22 subjects, 26 representative daily activities). Ten synergies per subject were extracted as the principal components explaining at least 95% of the total variance of the angles recorded across all tasks. The 220 resulting synergies were clustered, and candidate angles for estimating the remaining angles were obtained from these groups. Different combinations of candidates were tested and the one providing the lowest error was selected, its goodness being evaluated against kinematic data from another dataset (KINE-ADL BE-UJI). Consequently, the original 16 joint angles were reduced to eight: carpometacarpal flexion and abduction of thumb, metacarpophalangeal and interphalangeal flexion of thumb, proximal interphalangeal flexion of index and ring fingers, metacarpophalangeal flexion of ring finger, and palmar arch. Average estimation errors across joints were below 10% of the range of motion of each joint angle for all the activities. Across activities, errors ranged between 3.1% and 16.8%.

Effect on manual skills of wearing instrumented gloves during manipulation

Instrumented gloves are motion capture systems that are widely used due to the simplicity of the setup required and the absence of occlusion problems when manipulating objects. Nevertheless, the effect of their use on manipulation capabilities has not been studied to date. Therefore, the aim of this work is to quantify the effect of wearing CyberGlove instrumented gloves on these capabilities when different levels of precision are required. Thirty healthy subjects were asked to perform three standardised dexterity tests twice: bare-handed and wearing instrumented gloves. The tests were the Sollerman Hand Function Test (to evaluate capability of performing activities of daily living), the Box and Block Test (to evaluate gross motor skills) and the Purdue Pegboard Test (to evaluate fine motor skills). Scores obtained in the test evaluating fine motor skills decreased by an average of 29% when wearing gloves, while scores obtained on those evaluating gross motor skills and capability to perform activities of daily living were reduced by an average of 8% and 3%, respectively. The use of instrumented gloves to record hand kinematics is only recommended when performing tasks requiring medium and gross motor skills.

A calibrated database of kinematics and EMG of the forearm and hand during activities of daily living

Linking hand kinematics and forearm muscle activity is a challenging and crucial problem for several domains, such as prosthetics, 3D modelling or rehabilitation. To advance in this relationship between hand kinematics and muscle activity, synchronised and well-defined data are needed. However, currently available datasets are scarce, and the presented tasks and data are often limited. This paper presents the KIN-MUS UJI Dataset that contains 572 recordings with anatomical angles and forearm muscle activity of 22 subjects while performing 26 representative activities of daily living. This dataset is, to our knowledge, the biggest currently available hand kinematics and muscle activity dataset to focus on goal-oriented actions. Data were recorded using a CyberGlove instrumented glove and surface EMG electrodes, both properly synchronised. Eighteen hand anatomical angles were obtained from the glove sensors by a validated calibration procedure. Surface EMG activity was recorded from seven representative forearm areas. The statistics verified that data were not affected by the experimental procedures and were similar to the data acquired under real-life conditions.

Effect on hand kinematics when using assistive devices during activities of daily living

Assistive devices (ADs) are products intended to overcome the difficulties produced by the reduction in mobility and grip strength entailed by ageing and different pathologies. Nevertheless, there is little information about the effect that the use of these devices produces on hand kinematics. Thus, the aim of this work is to quantify this effect through the comparison of kinematic parameters (mean posture, ROM, median velocity and peak velocity) while performing activities of daily living (ADL) using normal products and ADs. Twelve healthy right-handed subjects performed 11 ADL with normal products and with 17 ADs wearing an instrumented glove on their right hand, 16 joint angles being recorded. ADs significantly affected hand kinematics, although the joints affected differed according to the AD. Furthermore, some pattern effects were identified depending on the characteristics of the handle of the ADs, namely, handle thickening, addition of a handle to products that initially did not have one, extension of existing handles or addition of handles to apply higher torques. An overview of the effects of these design characteristics on hand kinematics is presented as a basis for the selection of the most suitable AD depending on the patient’s impairments.

Human hand kinematic data during feeding and cooking tasks

This work presents a database of human hand kinematics containing data collected during the performance of a wide variety of activities of daily living involving feeding and cooking. The data were recorded using CyberGlove instrumented gloves on both hands measuring 18 degrees of freedom on each. A total of 20 subjects participated in each part of the experiment, and the objects and their arrangement were the same across subjects, although they performed the tasks in a natural non-directed way. This dataset contains a total of 1160 continuous calibrated recordings taken at 100 Hz during the performance of the tasks, with filtered signal. Statistical descriptive analyses from these data are presented. This database can be useful for machine learning purposes and prostheses control, as well as for the characterization of healthy human hand kinematics.

Effect of assistive devices on hand and arm posture during activities of daily living

Assistive devices (ADs) are products designed to overcome the grip strength and mobility difficulties produced by ageing and different pathologies. Nevertheless, little is known about the postural effect of such devices. This work aims to quantify this effect on the entire upper limb. Ten healthy right-handed subjects performed 13 activities of daily living (ADL) with normal products and 22 ADs and both arm (shoulder, elbow and wrist) and hand (grasp types and contacts) postures were analysed. ADs were found to affect upper limb postures in ADL, reducing the use of precision grasps in the right hand by 31.9% and increasing palm contact by 26% and 29.1% in right and left hands, respectively. Nevertheless, they were also found to increase shoulder flexion, elbow pronation and wrist deviation, which may be a drawback in some pathologies. Results may help in the selection of a suitable AD for enhancing ADL performance depending on the patient's limitations due to a particular pathology.

Kinematics reduction applied to the comparison of highly-pronated, normal and highly-supinated feet during walking

BACKGROUND

Kinematic analysis could help to study how variations in the static foot posture affect lower limb biomechanical function. The analysis of foot kinematics is complex because it involves managing the time-dependent joint angles in different joints and in all three planes of motion. But it could be simplified if joint angles are coordinated.

METHODS

The kinematics of the ankle, midtarsal and metatarsophalangeal joints were registered in 20 highly-pronated, 30 normal and 20 highly-supinated subjects (assessed by the Foot Posture Index - FPI) as they walked barefoot. Coordination for each sample was analysed through principal component analysis applied to the dorsiflexion, abduction and inversion angles measured. Finally, a systematic comparison among the samples was performed through a set of ANOVAs applied to the reduced variables corresponding to the factors found.

RESULTS

Three principal components (coordination patterns) accounted for about 70% of the variance of the joint angles, and were affected by the FPI. The main coordination in normal feet was the supination movement, while in highly-supinated and highly-pronated feet it was the flexion coordination of all foot joints, which could work against adaptation in cases of varying terrain. The original joint angles were reduced to three factors, and the ANOVAs applied to them showed that highly-pronated feet presented a delayed propulsion peak and smaller ranges of motion during propulsion regarding all factors, and that highly-supinated feet require more pronation time to fully support the foot during walking.

SIGNIFICANCE

The coordination patterns of normal feet might be considered the normal patterns used for an efficient gait, and may help in planning surgical procedures and designing foot prostheses or orthotics. Dimensional reduction makes it possible to perform more systematic kinematic analyses, which have revealed that highly-pronated feet are in poorer propulsive condition, and this in turn may make them more prone to injury.

Identification of forearm skin zones with similar muscle activation patterns during activities of daily living

Background

A deeper knowledge of the activity of the forearm muscles during activities of daily living (ADL) could help to better understand the role of those muscles and allow clinicians to treat motor dysfunctions more effectively and thus improve patients’ ability to perform activities of daily living.

Methods

In this work, we recorded sEMG activity from 30 spots distributed over the skin of the whole forearm of six subjects during the performance of 21 representative simulated ADL from the Sollerman Hand Function Test. Functional principal component analysis and hierarchical cluster analysis (HCA) were used to identify forearm spots with similar muscle activation patterns.

Results

The best classification of spots with similar activity in simulated ADL consisted in seven muscular-anatomically coherent groups: (1) wrist flexion and ulnar deviation; (2) wrist flexion and radial deviation; (3) digit flexion; (4) thumb extension and abduction/adduction; (5) finger extension; (6) wrist extension and ulnar deviation; and (7) wrist extension and radial deviation.

Conclusion

The number of sEMG sensors could be reduced from 30 to 7 without losing any relevant information, using them as representative spots of the muscular activity of the forearm in simulated ADL. This may help to assess muscle function in rehabilitation while also simplifying the complexity of prosthesis control.

Grip force and force sharing in two different manipulation tasks with bottles

Grip force and force sharing during two activities of daily living were analysed experimentally in 10 right-handed subjects. Four different bottles, filled to two different levels, were manipulated for two tasks: transporting and pouring. Each test subject's hand was instrumented with eight thin wearable force sensors. The grip force and force sharing were significantly different for each bottle model. Increasing the filling level resulted in an increase in grip force, but the ratio of grip force to load force was higher for lighter loads. The task influenced the force sharing but not the mean grip force. The contributions of the thumb and ring finger were higher in the pouring task, whereas the contributions of the palm and the index finger were higher in the transport task. Mean force sharing among fingers was 30% for index, 29% for middle, 22% for ring and 19% for little finger. Practitioner Summary: We analysed grip force and force sharing in two manipulation tasks with bottles: transporting and pouring. The objective was to understand the effects of the bottle features, filling level and task on the contribution of different areas of the hand to the grip force. Force sharing was different for each task and the bottles features affected to both grip force and force sharing.

3D characterisation of the dynamics of foot joints of adults during walking. Gait pattern identification

A detailed description of the kinematics and kinetics of the ankle, midtarsal and metatarsophalangeal joints of the feet of a healthy adult male population during barefoot walking is provided. Plots of the angles and moments in each plane during the stance phase are reported, along with the mean and standard deviation values of 87 different parameters that characterise the 3D dynamics of the foot joints. These parameters were used to check for similarities between subjects through a hierarchical analysis that allowed three different gait patterns to be identified, most of the differences corresponding to the frontal and transverse planes.

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.

Evaluation of Human Prehension Using Grasp Quality Measures

One of the main features of the human hand is its grasping ability. Robot grasping has been studied for years and different quality measures have been proposed to evaluate the stability and manipulability of grasps. Although the human hand is obviously more complex than robot hands, the methods used in robotics might be adopted to study the human grasp. The purpose of this work is to propose a set of measures that allow the evaluation of different aspects of the human grasp. The most common robotic grasp quality measures have been adapted to the evaluation of the human hand and a new quality measure – the fatigue index – is proposed in order to incorporate the biomechanical aspect into the evaluation. The minimum set of indices that allows the evaluation of the different aspects of the grasp is obtained from the analysis of a human prehension experiment.

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

STUDY DESIGN

Cross-sectional research design.

INTRODUCTION

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

PURPOSE OF THE STUDY

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

METHODS

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

RESULTS

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

DISCUSSION

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

CONCLUSIONS

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

LEVEL OF EVIDENCE

N/A.

Across-subject calibration of an instrumented glove to measure hand movement for clinical purposes

Motion capture of all degrees of freedom of the hand collected during performance of daily living activities remains challenging. Instrumented gloves are an attractive option because of their higher ease of use. However, subject-specific calibration of gloves is lengthy and has limitations for individuals with disabilities. Here, a calibration procedure is presented, consisting in the recording of just a simple hand position so as to allow capture of the kinematics of 16 hand joints during daily life activities even in case of severe injured hands. 'across-subject gains' were obtained by averaging the gains obtained from a detailed subject-specific calibration involving 44 registrations that was repeated three times on multiple days to 6 subjects. In additional 4 subjects, joint angles that resulted from applying the 'across-subject calibration' or the subject-specific calibration were compared. Global errors associated with the 'across-subject calibration' relative to the detailed, subject-specific protocol were small (bias: 0.49°; precision: 4.45°) and comparable to those that resulted from repeating the detailed protocol with the same subject on multiple days (0.36°; 3.50°). Furthermore, in one subject, performance of the 'across-subject calibration' was directly compared to another fast calibration method, expressed relative to a videogrammetric protocol as a gold-standard, yielding better results.

Using kinematic reduction for studying grasping postures. An application to power and precision grasp of cylinders

The kinematic analysis of human grasping is challenging because of the high number of degrees of freedom involved. The use of principal component and factorial analyses is proposed in the present study to reduce the hand kinematics dimensionality in the analysis of posture for ergonomic purposes, allowing for a comprehensive study without losing accuracy while also enabling velocity and acceleration analyses to be performed. A laboratory study was designed to analyse the effect of weight and diameter in the grasping posture for cylinders. This study measured the hand posture from six subjects when transporting cylinders of different weights and diameters with precision and power grasps. The hand posture was measured using a Vicon(®) motion-tracking system, and the principal component analysis was applied to reduce the kinematics dimensionality. Different ANOVAs were performed on the reduced kinematic variables to check the effect of weight and diameter of the cylinders, as well as that of the subject. The results show that the original twenty-three degrees of freedom of the hand were reduced to five, which were identified as digit arching, closeness, palmar arching, finger adduction and thumb opposition. Both cylinder diameter and weight significantly affected the precision grasping posture: diameter affects closeness, palmar arching and opposition, while weight affects digit arching, palmar arching and closeness. The power-grasping posture was mainly affected by the cylinder diameter, through digit arching, closeness and opposition. The grasping posture was largely affected by the subject factor and this effect couldn't be attributed only to hand size. In conclusion, this kinematic reduction allowed identifying the effect of the diameter and weight of the cylinders in a comprehensive way, being diameter more important than weight.

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.

Validity of a simple videogrammetric method to measure the movement of all hand segments for clinical purposes

Hand movement measurement is important in clinical, ergonomics and biomechanical fields. Videogrammetric techniques allow the measurement of hand movement without interfering with the natural hand behaviour. However, an accurate measurement of the hand movement requires the use of a high number of markers, which limits its applicability for the clinical practice (60 markers would be needed for hand and wrist). In this work, a simple method that uses a reduced number of markers (29), based on a simplified kinematic model of the hand, is proposed and evaluated. A set of experiments have been performed to evaluate the errors associated with the kinematic simplification, together with the evaluation of its accuracy, repeatability and reproducibility. The global error attributed to the kinematic simplification was 6.68°. The method has small errors in repeatability and reproducibility (3.43° and 4.23°, respectively) and shows no statistically significant difference with the use of electronic goniometers. The relevance of the work lies in the ability of measuring all degrees of freedom of the hand with a reduced number of markers without interfering with the natural hand behaviour, which makes it suitable for its use in clinical applications, as well as for ergonomic and biomechanical purposes.

Mechanical performance of endodontic restorations with prefabricated posts: sensitivity analysis of parameters with a 3D finite element model

Many studies have investigated the effect of different parameters of the endodontically restored tooth on its final strength, using in vitro tests and model simulations. However, the differences in the experimental set-up or modelling conditions and the limited number of parameters studied in each case prevent us from obtaining clear conclusions about the relative importance of each parameter. In this study, a validated 3D biomechanical model of the restored tooth was used for an exhaustive sensitivity analysis. The individual influence of 20 different parameters on the mechanical performance of an endodontic restoration with prefabricated posts was studied. The results bring up the remarkable importance of the loading angle on the final restoration strength. Flexural loads are more critical than compressive or tensile loads. Young's modulus of the post and its length and diameter are the most influential parameters for strength, whereas other parameters such as ferrule geometry or core and crown characteristics are less significant.

Experimental strength of restorations with fibre posts at different stages, with and without using a simulated ligament

The aim of this study was to analyse the strength and failure mode of teeth restored with fibre posts under retention and flexural-compressive loads at different stages of the restoration and to analyse whether including a simulated ligament in the experimental setup has any effect on the strength or the failure mode. Thirty human maxillary central incisors were distributed in three different groups to be restored with simulation of different restoration stages (1: only post, 2: post and core, 3: post-core and crown), using Rebilda fibre posts. The specimens were inserted in resin blocks and loaded by means of a universal testing machine until failure under tension (stage 1) and 50º flexion (stages 2-3). Half the specimens in each group were restored using a simulated ligament between root dentine and resin block and the other half did not use this element. Failure in stage 1 always occurred at the post-dentine interface, with a mean failure load of 191·2 N. Failure in stage 2 was located mainly in the core or coronal dentine (mean failure load of 505·9 N). Failure in stage 3 was observed in the coronal dentine (mean failure load 397·4 N). Failure loads registered were greater than expected masticatory loads. Fracture modes were mostly reparable, thus indicating that this post is clinically valid at the different stages of restoration studied. The inclusion of the simulated ligament in the experimental system did not show a statistically significant effect on the failure load or the failure mode.

Influence of material and diameter of pre-fabricated posts on maxillary central incisors restored with crown

Numerous research works have studied the effect of post-design parameters on the mechanical behaviour of restored teeth without reaching any clear conclusions. Previous works by the authors ascertained the effect of material and post-dimensions for non-crowned restored teeth. The aim of this work was to study the effect of post-material and diameter for crowned teeth. First, an experimental fracture strength test was performed on eighteen extracted human maxillary central incisors. Teeth were decoronated, treated endodontically and restored (nine with glass fibre posts and nine with stainless steel posts). Several post-diameters were used. The final crown restoration was carried out using a reinforced glass-ceramic material. Failure loads were recorded and results were compared using the one-way anova. Secondly, the finite element technique was used to model the restored teeth and to compare the estimated stress distributions. The addition of the crown did not affect the strength of the restoration to any significant extent and post-diameter did not influence the biomechanical performance of either of the post-systems. The crown acts as a protector, thus eliminating the influence of the post-diameter that was found previously when using stainless steel posts, but it does not completely rule out the possibility of a root fracture. Significantly, lower failure loads were found experimentally for teeth restored with stainless steel posts. The stress distributions predicted by the model corroborated these findings and allowed the authors to propose the use of glass fibre posts as a more robust restorative technique.

A modified elastic foundation contact model for application in 3D models of the prosthetic knee

Different models have been used in the literature for the simulation of surface contact in biomechanical knee models. However, there is a lack of systematic comparisons of these models applied to the simulation of a common case, which will provide relevant information about their accuracy and suitability for application in models of the implanted knee. In this work a comparison of the Hertz model (HM), the elastic foundation model (EFM) and the finite element model (FEM) for the simulation of the elastic contact in a 3D model of the prosthetic knee is presented. From the results of this comparison it is found that although the nature of the EFM offers advantages when compared with that of the HM for its application to realistic prosthetic surfaces, and when compared with the FEM in CPU time, its predictions can differ from FEM in some circumstances. These differences are considerable if the comparison is performed for prescribed displacements, although they are less important for prescribed loads. To solve these problems a new modified elastic foundation model (mEFM) is proposed that maintains basically the simplicity of the original model while producing much more accurate results. In this paper it is shown that this new mEFM calculates pressure distribution and contact area with accuracy and short computation times for toroidal contacting surfaces. Although further work is needed to confirm its validity for more complex geometries the mEFM is envisaged as a good option for application in 3D knee models to predict prosthetic knee performance.

Influence of prefabricated post dimensions on restored maxillary central incisors

The aim of this study was to test the following hypothesis: biomechanical performance (fracture strength and stress distribution) of restored teeth is less sensitive to post diameter and post length when using glass fibre posts than when using stainless steel posts. First, an experimental fracture strength test was performed on 80 extracted human maxillary central incisors. Teeth were decoronated, treated endodontically and restored (40 with glass fibre posts and 40 with stainless steel posts), and the length and diameter of the posts varied uniformly. Failure loads were recorded and results were compared using an ancova analysis. Secondly, the finite element technique was used to develop a model of the restored tooth. The post diameter had a significant effect on the biomechanical performance of teeth restored with stainless steel posts. Lower failure loads were found as post diameter increased. However, the post diameter of those teeth restored with glass fibre posts, and the post length for both post systems under consideration, did not affect the biomechanical performance of restored teeth to a significant degree. The stress distributions predicted by the developed model corroborated these findings, confirmed the assumed hypothesis, and permitted the proposal of the use of glass fibre posts to achieve a restorative technique that is less sensitive to post dimensions, and thus more robust.

Influence of prefabricated post material on restored teeth: fracture strength and stress distribution

AIMS

This work studied how prefabricated intraradicular post material affects the mechanical performance of restored teeth. The effect of using two different materials (glass fiber and stainless steel) with significantly different elastic moduli was studied.

METHODS

A combined theoretical and experimental method was used: first, an experimental fracture strength test was performed on 60 extracted human maxillary central incisors. The teeth were decoronated, treated endodontically and restored, 30 with glass fiber posts and 30 with stainless steel posts. The data were recorded and the results compared using an ANOVA test. Then, the finite element technique was used to develop a model of the restored tooth. For both post systems, the model allowed for the study of stress distribution patterns on the restored tooth under external loads.

RESULTS

For teeth restored with stainless steel posts, a significantly lower failure load was found, as compared with those teeth restored with glass fiber posts (520 N versus 803 N). The estimated distributions confirmed a worse mechanical performance on teeth restored using stainless steel posts, with a high stress concentration due to the significant difference between the elastic moduli of the steel and the surrounding materials.

CONCLUSION

Within the limitations of this study, post systems, where the elastic modulus of the post is similar to that of dentin and core, have a better biomechanical performance.

Description and Validation of a Non-Invasive Technique to Measure the Posture of All Hand Segments

The aim of this work is to describe and validate a technique for measuring the posture of all the segments of the hand in a non-invasive way. The technique uses digital photographic images to reconstruct 3-D location of markers drawn on the skin. The markers are defined to obtain joint rotation angles with physiological meaning. Different experiments have been developed in order to analyze the accuracy and repeatability of the angle measurements. Although the placement of markers does not require any special care, the errors due to their location are lower than 2.6 deg in all cases, thus assuring the repeatability of the technique.

A 3D biomechanical model of the hand for power grip

A three-dimensional scalable biomechanical model of the four fingers of the hand to evaluate power grip is proposed. The model has been validated by means of reproducing an experiment in which the subjects exerted the maximal voluntary grasping force over cylinders of different diameters. The model is used to simulate the cylinder grip for two hand sizes and for five different handle diameters. The reduction of the muscle forces using different handle diameters has been studied. The model can be applied to the design and evaluation of handles for power grip and to the study of power grasp for normal and abnormal hands.

A 3-D dynamic model of human finger for studying free movements

The purpose of this work is to develop a 3D inverse dynamic model of the human finger for estimating the muscular forces involved during free finger movements. A review of the existing 3D models of the fingers is presented, and an alternative one is proposed. The validity of the model has been proved by means of two simulations: free flexion-extension motion of all joints, and free metacarpophalangeal (MCP) adduction motion. The simulation shows the need for a dynamic model including inertial effects when studying fast movements and the relevance of modelling passive forces generated by the structures studying free movements, such as the force exerted by the muscles when they are stretched and the passive action of the ligaments over the MCP joint in order to reproduce the muscular force pattern during the simulation of the free MCP abduction-adduction movements.