Fig 1
![Movements on the human wrist [1]](publication/336585918/figure/fig1/AS:11431281184456960@1693349375377/Movements-on-the-human-wrist-1.jpg)
Source publication
![Fig. 1. Movements on the human wrist [1]](publication/336585918/figure/fig1/AS:11431281184456960@1693349375377/Movements-on-the-human-wrist-1_Q320.jpg)
![Fig. 2. The kinematic chains of the human fingers [5]](publication/336585918/figure/fig2/AS:11431281184430505@1693349375454/The-kinematic-chains-of-the-human-fingers-5_Q320.jpg)
The paper provides basic information on human hand's anatomical structure with the location of joints and consequent types of achievable movements. The biomechanics of the human hand is described using two different kinematic models of the hand. The differences between the models are described. The Schlesinger's classification of movements of the h...
Contexts in source publication
Context 1
... and carpal bones. The carpal bones form two types of joints: the midcarpal and intercarpal joints. Midcarpal joints, along with the radiocarpal joint, enable the hand to perform movements of flexion/extension (towards the palm or the back of the hand) and radial/ulnar flexion (or deviation -towards the thumb or the little finger) as shown in the Fig. 1. Between the carpal and metacarpal bones there are five carpometacarpal (CMC) joints and only one of them, the CMC of the thumb, has a wide range of movements, including flexion and extension, abduction and adduction, circumduction, and opposition. The movements in other CMC joints are significantly limited ...
Context 2
... of various complicated movements, necessary in daily activities [1]. In 1919, Schlesinger determined six types of moves representing most of hand's functions: a cylindrical grasp, a tip or precision pinch, a hook (or snap), a palmar grasp (also known as an opposition pinch, a spherical (span) grasp and a lateral (key) pinch, as shown in the Fig. 4 [1, 8]. ...
Citations
... Hand prehension, which involves dynamic interactions between the digits and an object's surface, is classified based on functional grasping patterns (Schlesinger, 1919;Hertling and Kessler, 1996; (Li et al., 2002;Lee et al., 2008;Lee et al., 2014;Romano et al., 2019). Among these, the precision pinch (where the fingertips come into close contact to manipulate small objects) and the hook grip (where fingers curl around an object to support its weight) represent two configurations that create transient topological transformations (Jaworski and Karpiński, 2017;Tanrıkulu et al., 2015). When fingers touch or enclose an object, the hand momentarily forms a toroidal structure, altering the spatial distribution of force vectors and temperature gradients (Wang et al., 2023). ...
Raynaud's Phenomenon (RP), characterized by episodic reductions in peripheral blood flow, leads to significant discomfort and functional impairment. Existing therapeutic strategies focus on pharmacological treatments, external heat supplementation and exercise-based rehabilitation, but fail to address biomechanical contributions to vascular dysfunction. We introduce a computational approach rooted in topological transformations of hand prehension, hypothesizing that specific hand postures can generate transient geometric structures that enhance thermal and hemodynamic properties. We examine whether a flexed hand posture-where fingers are brought together to form a closed-loop toroidal shape-may modify heat transfer patterns and blood microcirculation. Using a combination of heat diffusion equations, fluid dynamics models and topological transformations, we implement a heat transfer and blood flow simulation to examine the differential thermodynamic behavior of the open and closed hand postures. We show that the closed-hand posture may preserve significantly more heat than the open-hand posture, reducing temperature loss by an average of 1.1 ± 0.3°C compared to 3.2 ± 0.5°C in the open-hand condition (p < 0.01). Microvascular circulation is also enhanced, with a 53% increase in blood flow in the closed-hand configuration (p < 0.01). Therefore, our findings support the hypothesis that maintaining a closed-hand posture may help mitigate RP symptoms by preserving warmth, reducing cold-induced vasoconstriction and optimizing peripheral flow. Overall, our topologically framed approach provides quantitative evidence that postural modifications may influence peripheral vascular function through biomechanical and thermodynamic mechanisms, elucidating how shape-induced transformations may affect physiological and pathological dynamics.
... We have chosen this example as a paradigmatic example because the hand is easily accessible for study through non-invasive, standardized, and cost-effective methods. State-of-the-art hand mesh reconstruction algorithms and various kinematic models can generate mesh models of the hand in different poses and 3D position (Jaworski and Karpiński, 2017). Methods to estimate contact regions between fingers, hand and object surface, by combining marker-based motion capture with deep learning-based hand mesh reconstruction have been proposed by (Hartmann et al., 2023). ...
Physical properties such as shape, volume, and size influence the dynamics of biological systems. In this context, we focus on the geometric properties of limb movements and their physiological and biomechanical effects. Using hand grasping as a paradigmatic example, we describe how dynamic changes in geometric configuration can affect the pathophysiology of grasping. We focus on precision pinch, the simplest and most basic form of grasping, where one finger remains stable while another moves against it (Brand and Hollister, 1999). The thumb and index finger come together to grasp small objects with great precision, such as a pen. During the precision pinch, the geometric configuration of the hand changes, modifying the distribution of forces and the functional connectivity between the fingers. These changes may offer a new approach to the biomechanics of artificial arms. While current approaches consider grasps as homogeneous structures, we argue that local variations in hand geometry can lead to new biomedical effects with intriguing operational implications.
... The human hand is one of the most complex parts of the human body composed of 29 bones combined with an advanced muscular and ligamentous system which makes it difficult to study [1]. One of the main functions of the human hand is the object manipulation that allows the performance of several activities of daily living (ADLs). ...
The study of human grasp forces is fundamental for the development of rehabilitation programs and the design of prosthetic hands in order to restore hand function. The purpose of this work was to classify multiple grasp types used in activities of daily living (ADLs) based on finger force data. For this purpose, we developed a deep neural network (DNN) model using finger forces obtained during the performance of six tests through a novelty force sensing resistor (FSR) glove system. A study was carried out with 25 healthy subjects (mean age: 35.4±11.6) all right handed. The DNN classifier showed high overall performance, obtaining an accuracy of 93.19%, a precision of 93.33%, and a F1-score of 91.23%. Therefore, the DNN classifier in combination with the FSR glove system is an important tool for physiotherapists and health professionals to determine and identify finger grasp forces patterns. The DNN model will facilitate the development of tailored and personalized rehabilitation programs for subjects recovering of hand injurie and other hand diseases. In future work, prosthetic hand devices can be optimized to more accurately reproduce natural grasping patterns.
... The joints that control the thumb movement are called trapeziometacarpal (TMC), metacarpophalangeal (MCP), and interphalangeal (IP). The control joints corresponding to the other four fingers are named carpometacarpal (CMC), metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) [7][8][9]. There is a large volume of research on the range of joint motion, including active range of motion (aROM) [10][11][12][13][14][15] and functional range of motion (fROM) which represent activities of daily living [7,11,12,15,16]. ...
... The control joints corresponding to the other four fingers are named carpometacarpal (CMC), metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) [7][8][9]. There is a large volume of research on the range of joint motion, including active range of motion (aROM) [10][11][12][13][14][15] and functional range of motion (fROM) which represent activities of daily living [7,11,12,15,16]. Depending on the joints and movement, fROM is 5° to 28° smaller than the available aROM [11,12,16]. ...
Continuous movements of the hand contain discrete expressions of meaning, forming a variety of semantic gestures. For example, it is generally considered that the bending of the finger includes three semantic states of bending, half bending, and straightening. However, there is still no research on the number of semantic states that can be conveyed by each movement primitive of the hand, especially the interval of each semantic state and the representative movement angle. To clarify these issues, we conducted experiments of perception and expression. Experiments 1 and 2 focused on perceivable semantic levels and boundaries of different motion primitive units from the perspective of visual semantic perception. Experiment 3 verified and optimized the segmentation results obtained above and further determined the typical motion values of each semantic state. Furthermore, in Experiment 4, the empirical application of the above semantic state segmentation was illustrated by using Leap Motion as an example. We ended up with the discrete gesture semantic expression space both in the real world and Leap Motion Digital World, containing the clearly defined number of semantic states of each hand motion primitive unit and boundaries and typical motion angle values of each state. Construction of this quantitative semantic expression will play a role in guiding and advancing research in the fields of gesture coding, gesture recognition, and gesture design.
... The human hand is an important part of the human body which has evolved through time to enhance manipulative skills. The anatomy of the hand is formed by wrist (carpus) , palm (metacarpus), and fingers (digiti manus) [16]. The human hand has a total of 27 bones: 8 carpals, 5 metacarpals, and 14 phalanges [4] as illustrated in Figure 1a. ...
Many hand accidents are reported around the world resulting in a necessity to perform a procedure of amputation of the hand. For this consideration, a large number of hand prostheses have been designed. However, the mechanical design of these prostheses present challenges such as kinematic functionality, strength, and cost. The present article analyses the mechanical design of a low-cost practical hand prosthesis using the finite element method with the help of Abaqus commercial software. Functional and technical requirements were considered to consider the biomechanics of the human hand. The hand prosthesis was conferred with 14-degrees-of-freedom (DOF), which gives it the capacity for grips associated with security, stability, dexterity, and sensibility. Additionally, due to practicality and low-cost manufacturing techniques, fused deposition modelling with acrylonitrile butadiene styrene (ABS) is proposed. The evaluation of the hand prosthesis was carried out by tensile, flexural, and torsional load conditions. Finally, the mechanical effectiveness of the designed prosthesis was demonstrated since maximum stresses close to 13 MPa were computed, which are less than the yield stress of ABS.
... Additionally, amputees who wish to return to work or live independently can have incredibly varied grip needs [4,5] as part of their instrumental ADLs (IADLs), which present challenges beyond those of the basic ADLs (Table 1). Human hands are a complex system of between 22 and 24 DOF [8] controlled by a vast network of neurons, so all prosthetic hands present simplified movements and reduced DOFs in comparison. Among the prosthetic hands developed, the most common omitted movements are the adduction/abduction of the fingers and the movements of the thumb (see Fig 1 for movement reference). ...
Human hands play a key role in almost all activities of daily living (ADLs) because it is an incredibly versatile tool capable of complex motion. For individuals who have had a complete loss of the hand, the ability to perform ADLs is impaired. Effective prosthetics accurately simulate the movements of a human hand by providing a high number of degrees of freedom, an efficient control system, and an anthropomorphic appearance. In this paper, the design and construction process of a highly anthropomorphic soft robotic prosthetic hand is outlined. The design specifications of the hand are based on feedback from current and former prosthetic users. The hand endoskeleton was 3D printed using fused deposition modeling techniques and was enclosed in a silicone coating modeled, after a real human hand. The hand presents anthropomorphic design in its realistic bone shapes and in its external covering that is like skin in texture and mechanical properties. The hand utilizes the flexibility of silicone instead of antagonistic tendons which would otherwise add complexity and weight to the prosthetic design. The prototype also includes adduction/abduction of the fingers, which is a common omitted movement in other prosthetics. Testing showed that the hand is capable of effective power and precision grasping.
... Pergerakan tangan terdiri dari 8 tulang carpal kecilscaphoid, lunate, triquetrum, pisiform, trapezium, trapezoid, capitate dan hamate, tersusun dalam 3 kolom : radial scaphoid, lunate dan kolom ulnar triquetral [4]. Fungsi utama dari tulang carpal kecil adalah untuk menghubungkan antara tangan dengan lengan bawah. ...
... There are some common acronyms used in human hand anatomy, such as, DIP-distal interphalangeal joint, PIP-proximal interphalangeal joint, MCPmetacarpal phalangeal joint, and BC-basal carpometacarpal joint. In Fig. 1, the proximal lengths, L t1 and L i1 , of thumb and index finger refer to the distance from the proximal flexion crease to the middle flexion crease of the corresponding finger, whereas the medial length, L i2 , of the index finger refers to the distance from the middle Range of motion [26][27][28][29] DIP ...
... The index finger includes distal, medial, proximal and metacarpal phalanxes; and its DIP and PIP joints have 1 DoF for extension/flexion motion and its MCP joint has 2 DoFs for extension/flexion and adduction/abduction motion [30] . The normal range of motion of each joint in the thumb and index finger described by Gutierrez et al. [26] , Jaworski and Karpiński [27] and Hammert et al. [28] is presented in Table 1. There are three typical thumb-index finger grasping patterns, shown in Fig. 2. According to the grasp taxonomy proposed by Feix et al. [12] , the power-grasp is defined as the posture in which the index finger, including at least two phalanxes, and thumb wrap around an object; in this grasp both MCP and BC joints in the thumb perform an abduction motion before holding the object and the thumb MCP joint performs an extension at the end of the motion [31,32] and is more or less flexed at the DIP, PIP and MCP joints in the index finger and at the PIP joint in thumb [33,34] . ...
Bionic inspiration from human thumb and index finger was the drive to design a high-performance two-finger dexterous hand. The size of each phalanx and the motion range of each joint in the human thumb and index finger were summarized, and the features of three grasping patterns were described in detail. Subsequently, a two-finger dexterous bionic hand with 6 Degrees of Freedom (DoFs) was developed. Both the mechanical thumb and index finger were made up of three rigid phalanx links and three mechanical rotation joints. Some grasp-release tests validated that the bionic hand can perform three grasping patterns: power grasp, precision pinch and lateral pinch. The grasping success rates were high under the following cases: (1) when power grasping was used to grasp a ring with external diameter 20 mm – 140 mm, a cylinder with mass < 500 g, or objects with cylinder, sphere or ellipsoid shape; (2) when the precision pinch was used to grasp thin or small objects; (3) when the lateral pinch was used to grasp low length-to-width ratio of objects. The work provided a method for developing two-finger bionic hand with three grasping patterns, and further revealed the linkage between the difference in finger structure and size and the hand manipulation dexterity.
... The hand has also the same movements, and defined ranges of motion as shown in Figure 3. Based on these movements it is important to define an overall model of the hand's kinematics, critical to design a hand prosthesis. Different models considering different degrees of freedom (DOF) have been proposed [1,4,7,10]. Where the more degrees of freedom are considered the lower is the error when using specific grasps (e.g. ...
... Therefore, a model considering 24 DOF and providing very accurate dexterity and manipulation is commonly used [4,10]. Whereas, Morecki proposed a novel kinematic model of the hand based on 22 DOF, including the DOFs of the hand and 3 DOF for the wrist [1,7]. This is due to an assumption where any motion which is </5 degrees is a slack and that motion is disregarded. ...
... Morecki's kinematic model of the hand [1,7] The hand prosthesis was designed in Dassault systems-Solidworks considering some anatomical measurements were used from literature and then scaled respectively to produce the hand. The hand-wrist connection has a ball-socket joint allowing the wrist to move in all directions. ...
Every year there are about 3500-5200 people suffering from upper limb amputations, most of which are wrist disarticulation and transcarpal. This paper investigates current upper limb prostheses and presents the disadvantages of current prostheses, including limited degrees of freedom (DOF), limited range of motion, weight, customizability, and appearance. The proposed design is the first stage of a series of papers that proposes designs that are compatible with shape morphing materials. The use of these materials as actuators allows the development and design of more advanced upper limb prostheses. Therefore, the prosthesis is modelled as needed for patients with transcarpal/wrist disarticulation amputations. The proposed model has 27 degrees of freedom (DOF), reduced weight, low cost, improved appearance, and is printable to fit.
... La mano humana se puede modelar mecánicamente como un sistema de 20 a 26 grados de libertad (DOF, por sus siglas en inglés), (Jaworski & Karpiński, 2017) El ángulo de inclinación de la articulación CMC del pulgar se propuso en 45º ya que es el ángulo promedio del dedo pulgar en reposo (Taboadela, 2007). Considerando que los metacarpianos se tomarían como un elemento único, sin movimiento, se diseñó la estructura de la palma de la mano como una pieza sólida. ...
Objetivos: En la actualidad existen diversas opciones de prótesis de mano, sin embargo, ninguna de ellas es adecuada para la utilización de teclados, debido a la lentitud o falta de movimientos adecuados. En este trabajo se plantea el diseño conceptual de una prótesis de mano de bajo costo, controlada por señales electromiográficas, especializadas para el uso de teclados de computadora.
Metodología: Se analizaron los datos antropométricos de la población mexicana, los requerimientos de fuerza y las diferentes opciones de materiales, transmisión de movimientos y adquisición y análisis de señales EMG, para proponer el diseño de prótesis capaz de interactuar con teclados.
Resultados: Se presenta el diseño de una prótesis de mano pensada para fabricarse por medio de tecnología de impresión 3D, que cumple, de acuerdo con los cálculos, con las características de fuerza y velocidad necesarias como para mejorar la interfaz entre usuario y teclados de computadora.
Relevancia: Existen muchas prótesis, pero la mayoría están diseñadas para trabajos pesados o complejos, lo que hace que las prótesis sean lentas, pesadas y costosas. Aquí se presenta el diseño mecánico y electrónico de una opción para prótesis de mano de uso específico para teclados. Esta prótesis podría mejorar la calidad de vida de personas que necesitan usar teclados dentro de sus actividades de la vida diaria.
