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TECHNICAL PAPERS: Joint/Whole Body

Manipulabilities of the Index Finger and Thumb in Three Tip-Pinch Postures

[+] Author and Article Information
Ryuichi Yokogawa, Kei Hara

Department of Mechanical Engineering, Doshisha University, Kyo-tanabe, Kyoto, 610-0321, Japan

J Biomech Eng 126(2), 212-219 (May 04, 2004) (8 pages) doi:10.1115/1.1691444 History: Received June 28, 2001; Revised October 25, 2003; Online May 04, 2004
Copyright © 2004 by ASME
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Figures

Grahic Jump Location
Link Models of the Index Finger and Thumb in Tip-Pinch. Direction of an arrow shows the right (+) direction. +θ: Abduction, −θ: Adduction, +ϕ: Flexion, and −ϕ: Extension.
Grahic Jump Location
Measurement System of Tip-Pinch Posture of the Index Finger and Thumb
Grahic Jump Location
Tip-Pinch Postures of Measurement
Grahic Jump Location
Manipulability Ellipses Obtained from ‖q̇i‖=1(i=Index or Thumb) and Postures of the Index Finger and Thumb. This figure was the simulation result of a single subject and a typical example of the simulation results of the 20 subjects.
Grahic Jump Location
Ratio of Minor Axis Length to Major Axis Length of Manipulability Ellipse. Posture 1, Posture 2, and Posture 3 were named the extension posture, the intermediate posture, and the flexion posture, respectively.
Grahic Jump Location
Major Axis Direction Angle of Manipulability Ellipse. The major axis direction angle of the ellipse indicates the counterclockwise rotation angle between the ẋ-axis of the ellipse origin and the major axis of the ellipse (angles A and B in Fig. 4). Posture 1, Posture 2, and Posture 3 were named the extension posture, the intermediate posture, and the flexion posture respectively. There were no significant differences (p=0.08) in the major axis direction angle of the index finger across the subjects, while there were significant differences (p=0.0003) in that of the thumb across the subjects. The pairs with a significant difference in the major axis direction angle of the thumb were Subjects 10 and 17, and Subjects 12 and 17.
Grahic Jump Location
Manipulability Measure. Posture 1, Posture 2, and Posture 3 were named the extension posture, the intermediate posture, and the flexion posture respectively. Note that the values are dimensionless because the manipulability ellipses were obtained from the unit input condition (Eqs. (5) and (6)). There were no significant differences (p=0.82) in the manipulability measure of the index finger across all the subjects, while there was a significant difference (p=0.01) in that of the thumb across the subjects. The pairs with a significant difference in the manipulability measure of the thumb were Subjects 3 and 16, Subjects 5 and 16, and Subjects 8 and 16.

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