Article
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Preserved in Portico This version is not peer-reviewed
Finger Kinematics During Human Hand Grip and Release
Version 1
: Received: 23 April 2023 / Approved: 23 April 2023 / Online: 23 April 2023 (05:24:47 CEST)
A peer-reviewed article of this Preprint also exists.
Li, X.; Wen, R.; Duanmu, D.; Huang, W.; Wan, K.; Hu, Y. Finger Kinematics during Human Hand Grip and Release. Biomimetics 2023, 8, 244. Li, X.; Wen, R.; Duanmu, D.; Huang, W.; Wan, K.; Hu, Y. Finger Kinematics during Human Hand Grip and Release. Biomimetics 2023, 8, 244.
Abstract
Bionic robotic hand can perform many movements similar to human hand. But there is still a significant gap in manipulation between robot and human hand. It is necessary to understand the finger kinematics and motion patterns of human hand to improve the performance of robotic hand. This study aimed to comprehensively investigate normal hand motion patterns by evaluating the kinematics of hand grip and release in healthy individuals. The data corresponding to rapid grip and release were collected from the dominant hand of 22 healthy people by sensory glove. The kinematics of 14 finger joints were analyzed, including the dynamic range of motion (ROM), peak velocity, joint sequence and finger sequence. The results show that the proximal interphalangeal (PIP) joint had a largest dynamic ROM than metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints. Besides, the PIP joint had the highest peak velocity, both in flexion and extension. For joint sequence, the PIP joint moved prior to the DIP or MCP joints during flexion, while extension started in DIP or MCP joints, followed by PIP joint. Regarding the finger sequence, the thumb started to move before four fingers, and stopped moving after the fingers during both grip and release. This study explored the normal motion patterns in hand grip and release, which provided kinematic reference for the design of robotic hand and thus contribute to its development.
Keywords
Finger kinematics; Motion coordination; Grasping and release; Robotic hand; Bio-inspired
Subject
Engineering, Bioengineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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