ArticleBiomimetics (Basel, Switzerland)2023
Finger Kinematics during Human Hand Grip and Release.
Article in Biomimetics (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Synergistic Torso-Muscle-Controlled Detached Robotic Hand: A Novel Approach for Post-Stroke Hand Rehabilitation.medRxiv : the preprint server for health sciences · 2025Article
- Training Movement Velocity Significantly Affects the Performance of Myoelectric Control.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality.Biomimetics (Basel, Switzerland) · 2024Article
- On Automated Object Grasping for Intelligent Prosthetic Hands Using Machine Learning.Bioengineering (Basel, Switzerland) · 2024Article
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Authors and funding
6 authors.
Funding
Abstract
A bionic robotic hand can perform many movements similar to a human hand. However, there is still a significant gap in manipulation between robot and human hands. It is necessary to understand the finger kinematics and motion patterns of human hands to improve the performance of robotic hands. 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 hands 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 larger dynamic ROM than metacarpophalangeal (MCP) and distal interphalangeal (DIP) joints. Additionally, 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 the PIP joint. Regarding the finger sequence, the thumb started to move before the 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 a kinematic reference for the design of robotic hands and thus contributes to its development.
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