Study of Hand Joint Kinematics and Biomechanical of Grasping Contact Force
Liu Xiaojie1#, Zhang Xushu1#*, Guo Yuan1#, Wen Yunpeng2, Wang Ruixue1#, Zhang Ming3#
1(College of Biomedical Engineering, Taiyuan University of Technology, Jinzhong 030600, Shanxi, China) 2(Department of Rehabilitation Medicine, Shanxi Huajin Orthopedics Hospital, Taiyuan 030400, China) 3(Department of Biomedical Engineering, Hong Kong Polytechnic University, Hong Kong 999077, China)
Abstract：This work performed biomechanical analysis of finger joint kinematics and grip contact force, aiming to provide reference for design of the motion and force feedback control of prosthetic hands. This study recruited 50 college students and set up three working conditions: manual gripping of different mass weights, cups with different volumes of water, and spheres with different diameters. Hand kinematic data and grip contact force data were collected from the participants. In the hand kinematics experiment, the Vicon motion capture system was used to collect the kinematic data of each marked point affixed to the subject's hand, and the angles of finger joints were calculated according to the space vector angle formula. In the hand contact force acquisition experiment, a thin film pressure sensor was used to acquire contact force information of the hand. USB-210 eight-channel data acquisition card was used as a pressure acquisition device and INSTRON 5544 material testing machine was used to calibrate the sensor. The sensor calibration curve was fitted with an exponential function, and the R2 reached 0.995 9. The contact force of each collection area was calculated. According to the kinematic characteristics of human fingers in different working conditions, the contact force data were analyzed statistically, and the biomechanical characteristics were studied. The results showed that the movement of each finger and the distribution of contact force in hand movement were synergetic, and the thumb, middle finger and index finger had a greater impact on the grasping function of the opponent, contributing 31.59%, 22.2% and 15.88% of the contact force respectively. The three fingertips contact force had significant differences with the increase of weight mass (P<0.05). With the increase of the number of finger joints and the complexity of movement, the contact force between fingertip and palm area also showed significant differences (P<0.05). There was no significant interaction effect between the gender difference of the subjects and the differences between the working conditions (P>0.05). These results provided data and theoretical reference for the design of humanoid prosthetic hand.
作者简介: #中国生物医学工程学会会员(Member, Chinese Society of Biomedical Engineering)
引用本文:
刘晓杰, 张绪树, 郭媛, 文云鹏, 王瑞雪, 张明. 人手关节运动学与抓握接触力的生物力学研究分析[J]. 中国生物医学工程学报, 2025, 44(2): 193-202.
Liu Xiaojie, Zhang Xushu, Guo Yuan, Wen Yunpeng, Wang Ruixue, Zhang Ming. Study of Hand Joint Kinematics and Biomechanical of Grasping Contact Force. Chinese Journal of Biomedical Engineering, 2025, 44(2): 193-202.
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