ArticleJournal of neuroengineering and rehabilitation2019
Kinematic synergies of hand grasps: a comprehensive study on a large publicly available dataset.
Article in Journal of neuroengineering and rehabilitation, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 28 papers.
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Who cites it
28 citing papers in PubMed.
- Loss of hand control expressiveness revealed by task- and individual-specificity in spatiotemporal finger coordination.bioRxiv : the preprint server for biology · 2026Article
- Modular organization of intermuscular and interjoint interaction during ball catching.Experimental brain research · 2026Article
- Design an anthropomorphic dexterous hand for expressive piano performance.Frontiers in neurorobotics · 2026Article
- Functional symmetrization of neuromotor modules during locomotor development in human infants.Communications biology · 2025Article
- Pseudo-linear summation explains neural geometry of multi-finger movements in human premotor cortex.Nature communications · 2025Article
- Exploring synergistic patterns in bimanual distal limb movements through low dimensional representations.Scientific reports · 2025Article
- Innovative Bionics Product Life-Cycle Management Methodology Framework with Built-In Reverse Biomimetics: From Inception to Clinical Validation.Biomimetics (Basel, Switzerland) · 2025Article
- Reach&Grasp: a multimodal dataset of the whole upper-limb during simple and complex movements.Scientific data · 2025Article
- Article
- Biomimetic learning of hand gestures in a humanoid robot.Frontiers in human neuroscience · 2024Article
- The BE-UJI hand function activity set: a reduced set of activities for the evaluation of the healthy and pathological hand.Journal of neuroengineering and rehabilitation · 2023Article
- Gait asymmetry in children with Duchenne muscular dystrophy: evaluated through kinematic synergies and muscle synergies of lower limbs.Biomedical engineering online · 2023Article
- Finger Kinematics during Human Hand Grip and Release.Biomimetics (Basel, Switzerland) · 2023Article
- Bridging the Finger-Action Gap between Hand Patients and Healthy People in Daily Life with a Biomimetic System.Biomimetics (Basel, Switzerland) · 2023Article
- The Number and Structure of Muscle Synergies Depend on the Number of Recorded Muscles: A Pilot Simulation Study with OpenSim.Sensors (Basel, Switzerland) · 2022Article
- Age-related differences in gait symmetry obtained from kinematic synergies and muscle synergies of lower limbs during childhood.Biomedical engineering online · 2022Article
- A user-friendly automatic toolbox for hand kinematic analysis, clinical assessment and postural synergies extraction.Frontiers in bioengineering and biotechnology · 2022Article
- Using Sensorized Gloves and Dimensional Reduction for Hand Function Assessment of Patients with Osteoarthritis.Sensors (Basel, Switzerland) · 2021Article
- U-Limb: A multi-modal, multi-center database on arm motion control in healthy and post-stroke conditions.GigaScience · 2021Article
- Robotic hand augmentation drives changes in neural body representation.Science robotics · 2021Article
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4 authors.
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No grant is acknowledged in the PubMed record.
Abstract
backgroundHand grasp patterns require complex coordination. The reduction of the kinematic dimensionality is a key process to study the patterns underlying hand usage and grasping. It allows to define metrics for motor assessment and rehabilitation, to develop assistive devices and prosthesis control methods. Several studies were presented in this field but most of them targeted a limited number of subjects, they focused on postures rather than entire grasping movements and they did not perform separate analysis for the tasks and subjects, which can limit the impact on rehabilitation and assistive applications. This paper provides a comprehensive mapping of synergies from hand grasps targeting activities of daily living. It clarifies several current limits of the field and fosters the development of applications in rehabilitation and assistive robotics.
methodsIn this work, hand kinematic data of 77 subjects, performing up to 20 hand grasps, were acquired with a data glove (a 22-sensor CyberGlove II data glove) and analyzed. Principal Component Analysis (PCA) and hierarchical cluster analysis were used to extract and group kinematic synergies that summarize the coordination patterns available for hand grasps.
resultsTwelve synergies were found to account for > 80% of the overall variation. The first three synergies accounted for more than 50% of the total amount of variance and consisted of: the flexion and adduction of the Metacarpophalangeal joint (MCP) of fingers 3 to 5 (synergy #1), palmar arching and flexion of the wrist (synergy #2) and opposition of the thumb (synergy #3). Further synergies refine movements and have higher variability among subjects.
conclusionKinematic synergies are extracted from a large number of subjects (77) and grasps related to activities of daily living (20). The number of motor modules required to perform the motor tasks is higher than what previously described. Twelve synergies are responsible for most of the variation in hand grasping. The first three are used as primary synergies, while the remaining ones target finer movements (e.g. independence of thumb and index finger). The results generalize the description of hand kinematics, better clarifying several limits of the field and fostering the development of applications in rehabilitation and assistive robotics.
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