Understanding variable moment arms for the index finger MCP joints through the ACT hand

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Volumn , Issue , 2008, Pages 776-782

  Deshpande, Ashish D ^a   Balasubramanian, Ravi ^a   Lin, Ralph ^a   Dellon, Brian ^a   Matsuoka, Yoky ^a  

^a UNIVERSITY OF WASHINGTON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; IMAGE STORAGE TUBES; MOTION CONTROL; ROBOTICS;

ANATOMICAL FEATURES; HUMAN HANDS; HUMAN LEVELS; INDEX FINGERS; MOMENT ARMS; MULTIPLE JOINTS; NEURAL CONTROLS; NEURAL FUNCTIONS; PROSTHETIC HANDS; SYSTEM IDENTIFICATIONS; TEST BEDS; TWO DEGREES OF FREEDOMS; VARIABLE MOMENTS;

ROBOTS;

EID: 63049114872     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2008.4762911     Document Type: Conference Paper

References (28)

1. I. Albrecht, J. Haber" and H.-P. Seidel. Construction and animation of anatomically based human hand models. In Eurographics/SIGGRAPH Symposium on Computer Animation, 2003.
2. K. N. An, Y. Ueba, E. Y. Chao, W. P. Cooney, and R. I. Linscheid. Tendon excursion and moment arm of index finger muscles. Journal of Biomechanics, 16:419-425, 1983.
3. Barrett. Barrett technology inc. http://www.barrett.com/robot/index.htm.
4. A. Bicchi. Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Transactions on Robotics and Automation, 16:652-662, 2000.
5. A. Bicchi and D. Prattichizzo. Analysis and optimization of tendinous actuation for biomorphically designed robotic systems. Robotica, 18:23-31, 2000.
6. K. B. Biggers, S. C. Jacobsen, and G. E. Gerpheide. Low level control of the utah/m. i. t. dexterous hand. In IEEE International Conference on Robotics and Automation, 1986.
7. P. W. Brand, K. C. Cranor, and J. C. Ellis. Tendon and pulleys at the metacarpophalangeal joint of a finger. The Jounral of Bone and Joint Surgery, 57:779-784, 1975.
8. N. Brook, J. M. nad M. Shoham, and J. Dayan. A biomechanical model of index finger dynamics. Med. Eng. Phys." 17:54-63, 1995.
9. M. C. Carrozza, P. Dario, F. Vecchi, S. Roccella, M. Zecca, and F. Sebastiani. The cyberhand: on the design of cybernetic prosthetic hand intended to be interfaced to the peripheral nervous system. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.
10. L. Y. Chang and Y. Matsuka. A kinematic thumb model for the act hand. In Proceedings of the IEEE International Conference on Robotics and Automation, 2006.
11. B. DJ and S. BB. Metacarpophalangeal joint prostheses. a review of the clinical results of past and current designs. J Hand Surg, 20B:125-136., 1995.
12. A. G. Feldman. Functional tuning of the nervous system with control of movement or maintenance of a steady posture - ii. controllable parameters of the muscles. Biophysics, 11:565-578, 1966.
13. N. Fowlera, A. Nicola, B. Condonb, and D. Hadleyc. Method of determination of three dimensional index finger moment arms and tendon lines of action using high resolution mri scans. Jounral of Biomechanics, 34:791-797, 2001.
14. J. L. Fu and N. S. Pollard. On the importance of asymmetries in grasp quality metrics for tendon driven hands. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006.
15. A. M. Herrmann and S. L. Delp. Moment arm and force-generating capacity of the extensor carpi ulnaris after transfer to the extensor carpi radialis brevis. The Journal of Hand Surgery, 24A:1083-1090, 1999.
16. K. R. S. Holzbaur, W. M. Murray, and S. L. Delp. A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control. Annals of Biomedical Engineering, 33:829-840, 2005.
17. S. C. Jacobsen, D. F. Iversen, R. T. Knutti, and K. B. Biggers. Design of the utah/m. i. t. dexterous hand. In IEEE International Conference on Robotics and Automation, 1986.
18. K.-H. Lee and K. H. Kroemer. A finger model with constant tendon moment arms. In PROCEEDINGS of the HUMAN FACTORS AND ERGONOMICS SOCIETY 37th ANNUAL MEETING, 1993.
19. S. Narasimhan, D. M. Siegel, and J. M. Hollerbach. Condor: An architecture for controlling the utah-mit dexterous hand. IEEE Transactions on Robotics and Automation, 5:616-627, 1989.
20. N. S. Pollard. Closure and quality equivalence for efficient synthesis of grasps from examples. The International Journal of Robotic Research, 6:595-613, 2004.
21. N. S. Pollard and R. C. Gilbert. Tendon arrangement and muscle force requirements for humanlike force capabilities in a robotic finger. In Proceedings of IEEE International Conference on Robotics and Automation, 2002.
22. RTAI. http://www.rtai.org.
23. R. Shadmehr and M. A. Arbib. A mathematical analysis of the forcestiffness characteristics of muscles in control of a single joint system. Biological Cybenetics, 66:463-477, 1992.
24. A. B. Swanson. Silicone rubber implants for replacement of arthritic or destroyed joints in the hand. Surg Clin North Am, 48:1113-1127, 1968.
25. M. V. Weghe, M. Rogers, M. Weissert, and Y. Matsuoka. The act hand: Design of the skeletal structure. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004.
26. A.-P. C. Weiss, D. C. Moore, C. Infantolino, J. J. Crisco, E. Akelman, and R. D. McGovern. Metacarpophalangeal joint mechanics after 3 different silicone arthroplasties. The Journal of Hand Surgery, 29A:796-803, 2004.
27. D. D. Wilkinson, M. V. Weghe, and Y. Matsuoka. An extensor mechanism for an anatomical robotic hand. In International Conference on Robotics & Automation, 2003.
28. J. William L. Buford, S. Koh, C. R. Andersen, and S. F. Viegas. Analysis of intrinsicextrinsic muscle function through interactive 3- dimensional kinematic simulation and cadaver studies. The Journal of Hand Surgery, 6:1267-1275, 2005.