Many investigators have demonstrated that in swing motions such as ball-throwing, the motion of the proximal joint (shoulder) produced assistive interaction torque for the distal joint (elbow). In line with these studies, the shoulder and elbow motions would be expected to produce the assistive interaction torque for the wrist joint as well. However, we recently showed that the interaction torq...

Moment arm, muscle architecture, and tendon compliance in cadaveric human forearms were determined and used to model the wrist torque-joint angle relation (i.e. wrist torque profile). Instantaneous moment arms were calculated by differentiating tendon excursion with respect to joint rotation. Maximum isometric tension of each wrist muscle-tendon unit was predicted based on muscle physiological ...

The double universal joint robot wrist can eliminate singularities which limit the performance of existing industrial robot wrists. Unfortunately, this singularity-free wrist has an offset which prevents decoupling of the position and orientation in the manipulator inverse kinematics problem. Closed-form solutions are difficult, if not impossible, to find. This paper solves the inverse position...

The purpose of this study was to measure kinesthetic accuracy in healthy older adults by using arm position and motion matching tests. We investigated the effect of task type, joint angle, and matching arm results on kinesthetic accuracy in the upper extremities of 17 healthy right-handed older adults. Blinded subjects were asked to match positions and motions at four reference joint angles: 1)...

Abstract The purpose of this study was to measure the tension in the flexor digitorum profundus (FDP) tendon in zone II and the digit angle during joint manipulations that replicate rehabilitation protocols. Eight FDP tendons from eight human cadavers were used in this study. The dynamic tension in zone II of the tendon and metacarpophalangeal (MCP) joint angle were measured in various wrist an...

We have measured the three-dimensional patterns of carpal deformity in 20 wrists in 20 rheumatoid patients in which the carpal bones were shifted ulnarwards on plain radiography. Three-dimensional bone models of the carpus and radius were created by computerised tomography with the wrist in the neutral position. The location of the centroids and rotational angle of each carpal bone relative to ...

To increase in vivo tendon force and gliding after flexor tendon repair, a variety of modifications to the methods by which protective passive motion is administered have been advocated. To determine the relationship between the prime variables, wrist and digital position, muscle activation, and in vivo tendon force, a clinically relevant canine model was developed. Force was measured in the fl...

The singularities of manipulators with offset wrists are difficult to enumerate. This article presents a numerical study to illuminate singularity problems when using an offset wrist with an articulated regional arm. Ironically, the regional manipulator singularity problem is worsened when using a singularity-free offset wrist. No wrist singularities exist (they are forced by design to lie outs...