A validated combined musculotendon path and muscle-joint kinematics model for the human hand

Abstract Neuromusculoskeletal models provide a mathematical tool for understanding and simulating human motor control and neuromechanics. In this work, we propose a combined computational model for the musculotendon paths and muscle-joint kinematics for the human hand, including all extrinsic and intrinsic muscles. This model is implemented based on the anatomical descriptions and a human hand dissection study. The model takes joint angles as input and estimates the musculotendon lengths, length change rates, and excursion moment arms. The proposed model is simulated to generate according moment arms, which are compared with cadaver measurements available from literature in terms of similarity coefficient s. For most muscles compared, high similarity with for 92% of cases is achieved between the modeled and the measured moment arms. These results suggest the correctness of modeled moment arms and imply the feasibility of modeled musculotendon paths, lengths, and length change rates.

[1]  Lynn S. Lippert.  Clinical Kinesiology and Anatomy , 2006 .

[2]  Y. Matsuoka,et al.  Understanding variable moment arms for the index finger MCP joints through the ACT hand , 2008, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[3]  D. Jindrich,et al.  Finger Muscle Attachments for an OpenSim Upper-Extremity Model , 2015, PloS one.

[4]  Sami Haddadin,et al.  Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task , 2018, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).

[5]  F. Zajac.  Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control. , 1989, Critical reviews in biomedical engineering.

[6]  A G Feldman,et al.  Moment arms and lengths of human upper limb muscles as functions of joint angles. , 1996, Journal of biomechanics.

[7]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[8]  D. Hinkle,et al.  Applied statistics for the behavioral sciences , 1979 .

[9]  Michael Jantsch,et al.  Non-Linear Control Strategies for Musculoskeletal Robots , 2014 .

[10]  Ayman Habib,et al.  OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement , 2007, IEEE Transactions on Biomedical Engineering.

[11]  Jeffrey A Reinbolt,et al.  A platform for dynamic simulation and control of movement based on OpenSim and MATLAB. , 2012, Journal of biomechanics.

[12]  K. An,et al.  Tendon excursion and moment arm of index finger muscles. , 1983, Journal of biomechanics.

[13]  Wendy M Murray,et al.  Bridging the gap between cadaveric and in vivo experiments: a biomechanical model evaluating thumb-tip endpoint forces. , 2013, Journal of biomechanics.

[14]  M. Pandy,et al.  The Obstacle-Set Method for Representing Muscle Paths in Musculoskeletal Models , 2000, Computer methods in biomechanics and biomedical engineering.

[15]  Kai-Nan An,et al.  Modeling of the muscle/tendon excursions and moment arms in the thumb using the commercial software anybody. , 2009, Journal of biomechanics.

[16]  Michael Jäntsch,et al.  Non-linear control strategies for musculoskeletal robots , 2013 .

[17]  Yoky Matsuoka,et al.  Acquiring Variable Moment Arms for Index Finger Using a Robotic Testbed , 2010, IEEE Transactions on Biomedical Engineering.

[18]  Sami Haddadin,et al.  Sub-millimetre accurate human hand kinematics: from surface to skeleton , 2018, Computer methods in biomechanics and biomedical engineering.

[19]  Michael A Sherman,et al.  WHAT IS A MOMENT ARM? CALCULATING MUSCLE EFFECTIVENESS IN BIOMECHANICAL MODELS USING GENERALIZED COORDINATES. , 2013, Proceedings of the ... ASME Design Engineering Technical Conferences. ASME Design Engineering Technical Conferences.

[20]  Scott L. Delp,et al.  A Model of the Upper Extremity for Simulating Musculoskeletal Surgery and Analyzing Neuromuscular Control , 2005, Annals of Biomedical Engineering.

[21]  K. An,et al.  Mechanical advantage of the thumb muscles. , 1998, Journal of biomechanics.

[22]  Yoky Matsuoka,et al.  A kinematic thumb model for the ACT hand , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[23]  Neville Hogan,et al.  The mechanics of multi-joint posture and movement control , 1985, Biological Cybernetics.

[24]  J. Winters.  Hill-Based Muscle Models: A Systems Engineering Perspective , 1990 .

[25]  BRIAN A. Garner,et al.  A Kinematic Model of the Upper Limb Based on the Visible Human Project (VHP) Image Dataset. , 1999, Computer methods in biomechanics and biomedical engineering.