Abstract
Hand coordination can allow humans to have dexterous control with many degrees of freedom to perform various tasks in daily living. An important contributing factor to this important ability is the complex biomechanical architecture of the human hand. However, drawing a clear functional link between biomechanical architecture and hand coordination is challenging. It is not understood which biomechanical characteristics are responsible for hand coordination and what specific effect each biomechanical characteristic has. To explore this link, we first inspected the characteristics of hand coordination during daily tasks through a statistical analysis of the kinematic data, which were collected from thirty right-handed subjects during a multitude of grasping tasks. Then, the functional link between biomechanical architecture and hand coordination was drawn by establishing the clear corresponding causality between the tendinous connective characteristics of the human hand and the coordinated characteristics during daily grasping activities. The explicit functional link indicates that the biomechanical characteristic of tendinous connective architecture between muscles and articulations is the proper design by the Creator to perform a multitude of daily tasks in a comfortable way. The clear link between the structure and the function of the human hand also suggests that the design of a multifunctional robotic hand should be able to better imitate such basic architecture.
Highlights
The human hand is an amazing instrument that can perform a multitude of functions, such as the power grasp and precision grasp of a vast array of objects
Using the movement dataset of the human hand determined from the experimental paradigm, the principal component analysis (PCA) obtained 16 principal components (PC) as the movement dataset, potentially spanning a 16-dimensional space
The percentage of variance accounted for the joint angles by each successive PC diminishes progressively, and the first few PCs can retain most of the movement information of the original joint variables
Summary
The human hand is an amazing instrument that can perform a multitude of functions, such as the power grasp and precision grasp of a vast array of objects. The excellent behaviors of the human hand are enabled by a highly complex structure, with 19 articulations, 31 muscles and more than 25 degrees of freedom (DOF) [1]. Biomechanical Characteristics of Hand Coordination complex structure raises a challenging problem of how the human body controls such a large number of mechanical DOFs with ease and an absence of effort. The human hand adopts coordinated movements to reduce the number of independent DOFs and simplify the complexity of the control problem [5,6]. Hand coordination affords humans the ability to flexibly and comfortably control the complex structure to perform numerous tasks. Hand coordination should indicate the mystery of the Creator’s invention
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