Developing a dexterous robotic hand that mimics natural human movements is challenging due to complicated anatomy. Such practical design should address several requirements, which are often conflicting and force the designer prioritize main characteristics for given application. Therefore, in existing designs requirements only partially satisfied, leading bulky solutions. To this gap, novel sin...

The objective of this study was to identify the impact of modifying the object width on muscle and joint forces while gripping objects. The experimental protocol consisted to maintain horizontally five objects of different widths (3.5, 4.5, 5.5, 6.5, and 7.5 cm) with a thumb-index finger grip. Subjects were required to grasp spontaneously the object without any instruction regarding the grip fo...

The aim of this study was to elucidate the relative contribution of genes and environment on individual differences in motor control and acquisition of a force control task, in view of recent association studies showing that several candidate polymorphisms may have an effect on them. Forty-four healthy female twins performed brisk isometric abductions with their right thumb. Force was recorded ...

Background The trapeziometacarpal joint (TMCJ) is inherently unstable, relying on ligament restraint to prevent subluxation. Subluxation of the thumb in a dorsoradial direction is often observed in clinical practice, either after acute ligament injury or more commonly with osteoarthritis (OA). This subluxation follows loss of function of trapeziometacarpal ligaments that stabilise this joint, r...

The extent and characteristics of muscle fatigue of different muscle groups when subjected to a similar fatiguing task may differ. Thirteen healthy young men performed sustained contractions at 50% maximal voluntary contraction (MVC) force until task failure, with four different muscle groups, over two sessions. Per session, one upper limb and one lower limb muscle group were tested (knee exten...

Human thumb and index finger kinematics were examined for multiple repetitions of a simple grasp task as a means to evaluate motor planning and execution of these important hand movements. Subjects generated a rapid (approximately 90-ms duration) pinch movement of the index finger and thumb from an open-hand position. Approximately 400 repetitions were obtained from four naive subjects. The two...

Irregularities in force output are present throughout human movement and can impair task performance. We investigated the presence of a large force discontinuity (after-peak reduction, APR) that appeared immediately following peak in maximal effort ramp contractions performed with the thumb adductor and ankle dorsiflexor muscles in 25 young adult participants (76% males, 24% females; M age 24.4...

The condition of chronic instability of the MP (metacarpophalangeal) joint of the thumb, may be the resultant of chronic strain of the ulnar collateral ligament of the MP joint. This condition was described in Scottish gamekeepers who used to kill hunted animals by a special manoeuvre subjecting the thumb to extension abduction force, and was termed "Gamekeeper's Thumb" (Campbell, 1955). Nowada...

Most researchers have modelled the thumb as three rigid links with connections of two universal joints (carpometacarpal joint and metacarpo-phalangeal joint), and a hinge joint (interphalangeal joint). Although this produces the required number of degrees of freedom, the resulting motion is not anatomically accurate. In this work, the thumb is modelled as a five-link manipulator with the virtua...