Predicting Wrist Joint Angles from the Kinematics of the Arm: Application to the Control of Upper Limb Prostheses.

Automation of wrist rotations in upper limb prostheses allows simplification of the human-machine interface, reducing the user's mental load and avoiding compensatory movements. This study explored the possibility of predicting wrist rotations in pick-and-place tasks based on kinematic information from the other arm joints. To do this, the position and orientation of the hand, forearm, arm, and back were recorded from five subjects during transport of a cylindrical and a spherical object between four different locations on a vertical shelf. The rotation angles in the arm joints were obtained from the records and used to train feed-forward neural networks (FFNNs) and time-delay neural networks (TDNNs) in order to predict wrist rotations (flexion/extension, abduction/adduction, and pronation/supination) based on the angles at the elbow and shoulder. Correlation coefficients between actual and predicted angles of 0.88 for the FFNN and 0.94 for the TDNN were obtained. These correlations improved when object information was added to the network or when it was trained separately for each object (0.94 for the FFNN, 0.96 for the TDNN). Similarly, it improved when the network was trained specifically for each subject. These results suggest that it would be feasible to reduce compensatory movements in prosthetic hands for specific tasks by using motorized wrists and automating their rotation based on kinematic information obtained with sensors appropriately positioned in the prosthesis and the subject's body.

Effect of the Thumb Orientation and Actuation on the Functionality and Performance of Affordable Prosthetic Hands: Obtaining Design Criteria.

The advent of 3D printing technologies has enabled the development of low-cost prosthetic underactuated hands, with cables working as tendons for flexion. Despite the particular relevance to human grasp, its conception in prosthetics is based on vague intuitions of the designers due to the lack of studies on its relevance to the functionality and performance of the device. In this work, some criteria for designers are provided regarding the carpometacarpal joint of the thumb in these devices. To this end, we studied four prosthetic hands of similar characteristics with the motion of abduction/adduction of the thumb resolved in three different ways: fixed at a certain abduction, coupled with the motion of flexion/extension, and actuated independently of the flexion/extension. The functionality and performance of the hands were assessed for the basic grasps using the Anthropomorphic Hand Assessment Protocol (AHAP) and a reduced version of the Southampton Hand Assessment Procedure (SHAP). As a general rule, it seems desirable that thumb adduction/abduction is performed independently of flexion/extension, although this adds one degree of control. If having this additional degree of control is beyond debate, coupled flexion/extension and adduction/abduction should be avoided in favour of the thumb having a fixed slight palmar abduction.

Influence of Cross-Section and Pitch on the Mechanical Response of NiTi Endodontic Files under Bending and Torsional Conditions-A Finite Element Analysis.

In this article, the effects of cross-section and pitch on the mechanical response of NiTi endodontic files is studied by means of finite element analyses. The study was conducted over a set of eight endodontic rotary files, whose geometry was obtained from combinations of two cross-sections (square and triangular) and four pitches. Each file was subjected to bending and torsional analyses, simulating the testing conditions indicated in the ISO 3630 Standard, in order to assess their stiffness and mechanical strength. The results indicate that endodontic files with a square cross-section have double the stiffness of those with triangular cross-sections, both in terms of bending and torsion. For both loading modes, endodontic files with a triangular cross-section can undergo larger deformations before overload failure than those with a square cross-section: up to 20% more in bending and 40% in torsion. Moreover, under equivalent boundary conditions, endodontic files with triangular cross-sections present a higher fatigue life than those with square cross-sections: up to more than 300% higher for small pitches. The effect of pitch on the stiffness and strength of the file is smaller than that of the cross-section shape, but smaller pitches could be beneficial when using a triangular cross-section, as they increase the bending flexibility, fatigue life, and torsion stiffness. These results suggest a clinical recommendation for the use of files with a triangular-shaped cross-section and a small pitch in order to minimize ledging and maximize fatigue life. Finally, in this study, we reveal the sensitivity of the orientation of files with respect to the bending direction, which must be taken into account when designing, reporting, and interpreting test results under such loading conditions.

Fatigue Analysis of NiTi Rotary Endodontic Files through Finite Element Simulation: Effect of Root Canal Geometry on Fatigue Life.

This article describes a numerical procedure for estimating the fatigue life of NiTi endodontic rotary files. An enhanced finite element model reproducing the interaction of the endodontic file rotating inside the root canal was developed, which includes important phenomena that allowed increasing the degree of realism of the simulation. A method based on the critical plane approach was proposed for extracting significant strain results from finite element analysis, which were used in combination with the Coffin-Manson relation to predict the fatigue life of the NiTi rotary files. The proposed procedure is illustrated with several numerical examples in which different combinations of endodontic rotary files and root canal geometries were investigated. By using these analyses, the effect of the radius of curvature and the angle of curvature of the root canal on the fatigue life of the rotary files was analysed. The results confirm the significant influence of the root canal geometry on the fatigue life of the NiTi rotary files and reveal the higher importance of the radius of curvature with respect to the angle of curvature of the root canal.

Dataset of Tactile Signatures of the Human Right Hand in Twenty-One Activities of Daily Living Using a High Spatial Resolution Pressure Sensor.

Successful grasping with multi-fingered prosthetic or robotic hands remains a challenge to be solved for the effective use of these hands in unstructured environments. To this end, currently available tactile sensors need to improve their sensitivity, robustness, and spatial resolution, but a better knowledge of the distribution of contact forces in the human hand in grasping tasks is also necessary. The human tactile signatures can inform models for an efficient control of the artificial hands. In this study we present and analyze a dataset of tactile signatures of the human hand in twenty-one representative activities of daily living, obtained using a commercial high spatial resolution pressure sensor. The experiments were repeated for twenty-two subjects. The whole dataset includes more than one hundred million pressure data. The effect of the task and the subject on the grip force and the contribution to this grip force made by the different hand regions were analyzed. We also propose a method to effectively synchronize the measurements from different subjects and a method to represent the tactile signature of each task, highlighting the hand regions mainly involved in the task. The correlations between hand regions and between different tasks were also analyzed.

Grasping Ability and Motion Synergies in Affordable Tendon-Driven Prosthetic Hands Controlled by Able-Bodied Subjects.

Affordable 3D-printed tendon-driven prosthetic hands are a rising trend because of their availability and easy customization. Nevertheless, comparative studies about the functionality of this kind of prostheses are lacking. The tradeoff between the number of actuators and the grasping ability of prosthetic hands is a relevant issue in their design. The analysis of synergies among fingers is a common method used to reduce dimensionality without any significant loss of dexterity. Therefore, the purpose of this study is to assess the functionality and motion synergies of different tendon-driven hands using an able-bodied adaptor. The use of this adaptor to control the hands by means of the fingers of healthy subjects makes it possible to take advantage of the human brain control while obtaining the synergies directly from the artificial hand. Four artificial hands (IMMA, Limbitless, Dextrus v2.0, InMoov) were confronted with the Anthropomorphic Hand Assessment Protocol, quantifying functionality and human-like grasping. Three subjects performed the tests by means of a specially designed able-bodied adaptor that allows each tendon to be controlled by a different human finger. The tendon motions were registered, and correlation and principal component analyses were used to obtain the motion synergies. The grasping ability of the analyzed hands ranged between 48 and 57% with respect to that of the human hand, with the IMMA hand obtaining the highest score. The effect of the subject on the grasping ability score was found to be non-significant. For all the hands, the highest tendon-pair synergies were obtained for pairs of long fingers and were greater for adjacent fingers. The principal component analysis showed that, for all the hands, two principal components explained close to or more than 80% of the variance. Several factors, such as the friction coefficient of the hand contact surfaces, limitations on the underactuation, and impairments for a correct thumb opposition need to be improved in this type of prostheses to increase their grasping stability. The principal components obtained in this study provide useful information for the design of transmission or control systems to underactuate these hands.

Anthropomorphism Index of Mobility for Artificial Hands.

The increasing development of anthropomorphic artificial hands makes necessary quick metrics that analyze their anthropomorphism. In this study, a human grasp experiment on the most important grasp types was undertaken in order to obtain an Anthropomorphism Index of Mobility (AIM) for artificial hands. The AIM evaluates the topology of the whole hand, joints and degrees of freedom (DoFs), and the possibility to control these DoFs independently. It uses a set of weighting factors, obtained from analysis of human grasping, depending on the relevance of the different groups of DoFs of the hand. The computation of the index is straightforward, making it a useful tool for analyzing new artificial hands in early stages of the design process and for grading human-likeness of existing artificial hands. Thirteen artificial hands, both prosthetic and robotic, were evaluated and compared using the AIM, highlighting the reasons behind their differences. The AIM was also compared with other indexes in the literature with more cumbersome computation, ranking equally different artificial hands. As the index was primarily proposed for prosthetic hands, normally used as nondominant hands in unilateral amputees, the grasp types selected for the human grasp experiment were the most relevant for the human nondominant hand to reinforce bimanual grasping in activities of daily living. However, it was shown that the effect of using the grasping information from the dominant hand is small, indicating that the index is also valid for evaluating the artificial hand as dominant and so being valid for bilateral amputees or robotic hands.

Grip force and force sharing in two different manipulation tasks with bottles.

Grip force and force sharing during two activities of daily living were analysed experimentally in 10 right-handed subjects. Four different bottles, filled to two different levels, were manipulated for two tasks: transporting and pouring. Each test subject's hand was instrumented with eight thin wearable force sensors. The grip force and force sharing were significantly different for each bottle model. Increasing the filling level resulted in an increase in grip force, but the ratio of grip force to load force was higher for lighter loads. The task influenced the force sharing but not the mean grip force. The contributions of the thumb and ring finger were higher in the pouring task, whereas the contributions of the palm and the index finger were higher in the transport task. Mean force sharing among fingers was 30% for index, 29% for middle, 22% for ring and 19% for little finger. Practitioner Summary: We analysed grip force and force sharing in two manipulation tasks with bottles: transporting and pouring. The objective was to understand the effects of the bottle features, filling level and task on the contribution of different areas of the hand to the grip force. Force sharing was different for each task and the bottles features affected to both grip force and force sharing.

Analysis of the effect of design parameters and their interactions on the strength of dental restorations with endodontic posts, using finite element models and statistical analysis.

Many previous studies, both in vitro and with model simulations, have been conducted in an attempt to reach a full understanding of how the different design parameters of an endodontically restored tooth affect its mechanical strength. However, differences in the experimental set-up or modelling conditions and the limited number of parameters studied in each case prevent us from obtaining clear conclusions about the real significance of each parameter. In this work, a new approach is proposed for this purpose based on the combination of a validated three-dimensional parametric biomechanical model of the restored tooth and statistical analysis using full factorial analysis of variance. A two-step approach with two virtual tests (with, respectively, 128 and 81 finite element models) was used in the present work to study the effect of several design parameters on the strength of a restored incisor, using full factorial designs. Within the limitations of this study, and for cases where the parameters are within the ranges that were tested, the conclusions indicate that the material of the post is the most significant factor as far as its strength is concerned, the use of a low Young's modulus being preferable for this component. Once the post material has been chosen, the geometry of the post is of less importance than the Young's modulus selected for the core or, especially, for the crown.

Validity of a simple videogrammetric method to measure the movement of all hand segments for clinical purposes.

Hand movement measurement is important in clinical, ergonomics and biomechanical fields. Videogrammetric techniques allow the measurement of hand movement without interfering with the natural hand behaviour. However, an accurate measurement of the hand movement requires the use of a high number of markers, which limits its applicability for the clinical practice (60 markers would be needed for hand and wrist). In this work, a simple method that uses a reduced number of markers (29), based on a simplified kinematic model of the hand, is proposed and evaluated. A set of experiments have been performed to evaluate the errors associated with the kinematic simplification, together with the evaluation of its accuracy, repeatability and reproducibility. The global error attributed to the kinematic simplification was 6.68°. The method has small errors in repeatability and reproducibility (3.43° and 4.23°, respectively) and shows no statistically significant difference with the use of electronic goniometers. The relevance of the work lies in the ability of measuring all degrees of freedom of the hand with a reduced number of markers without interfering with the natural hand behaviour, which makes it suitable for its use in clinical applications, as well as for ergonomic and biomechanical purposes.

Mechanical performance of endodontic restorations with prefabricated posts: sensitivity analysis of parameters with a 3D finite element model.

Many studies have investigated the effect of different parameters of the endodontically restored tooth on its final strength, using in vitro tests and model simulations. However, the differences in the experimental set-up or modelling conditions and the limited number of parameters studied in each case prevent us from obtaining clear conclusions about the relative importance of each parameter. In this study, a validated 3D biomechanical model of the restored tooth was used for an exhaustive sensitivity analysis. The individual influence of 20 different parameters on the mechanical performance of an endodontic restoration with prefabricated posts was studied. The results bring up the remarkable importance of the loading angle on the final restoration strength. Flexural loads are more critical than compressive or tensile loads. Young's modulus of the post and its length and diameter are the most influential parameters for strength, whereas other parameters such as ferrule geometry or core and crown characteristics are less significant.

Grasp modelling with a biomechanical model of the hand.

The use of a biomechanical model for human grasp modelling is presented. A previously validated biomechanical model of the hand has been used. The equilibrium of the grasped object was added to the model through the consideration of a soft contact model. A grasping posture generation algorithm was also incorporated into the model. All the geometry was represented using a spherical extension of polytopes (s-topes) for efficient collision detection. The model was used to simulate an experiment in which a subject was asked to grasp two cylinders of different diameters and weights. Different objective functions were checked to solve the indeterminate problem. The normal finger forces estimated by the model were compared to those experimentally measured. The popular objective function sum of the squared muscle stresses was shown not suitable for the grasping simulation, requiring at least being complemented by task-dependent grasp quality measures.

Stiffness map of the grasping contact areas of the human hand.

The elasticity and damping of the soft tissues of the hand contribute to dexterity while grasping and also help to stabilise the objects in manipulation tasks. Although some previous works have studied the force-displacement response of the fingertips, the responses in all other regions of the hand that usually participate in grasping have not been analysed to date. In this work we performed experimental measurements in 20 subjects to obtain a stiffness map of the different grasping contact areas of the human hand. A force-displacement apparatus was used to simultaneously measure force and displacement at 39 different points on the hand at six levels of force ranging from 1N to 6N. A non-linear force-displacement response was found for all points, with stiffness increasing with the amount of force applied. Mean stiffness for the different points and force levels was within the range from 0.2N/mm to 7.7N/mm. However, the stiffness range and variation with level of force were found to be different from point to point. A total of 13 regions with similar stiffness behaviours were identified. The stiffness in the fingertips increased linearly with the amount of force applied, while in the palm it remained more constant for the range of forces considered. It is hypothesised that the differences in the stiffness behaviour from one region to another allow these regions to play different roles during grasping.

Premolars restored with posts of different materials: fatigue analysis.

Previous works studied the effect of the material and the dimensions of the post on the biomechanical performance (fracture strength and stress distribution) of restored teeth, under static loads. The aim of this work was to study the effect of the post material (glass fibre and stainless steel) on restored teeth, which have the final crown, under dynamic conditions. The use of a biomechanical model, including a fatigue analysis from FEA, is presented as a powerful method to study the effect of the material of the intraradicular post. The inclusion of the fatigue analysis allows for a more realistic study that takes into account the dynamic nature of masticatory forces. At the same time, the results obtained are easier to interpret by both dentists and mechanical engineers. No differences were found, with the load and number of cycles considered, between glass fibre and stainless steel as material for the intraradicular post used in premolars restorations.

Interpreting finite element results for brittle materials in endodontic restorations.

BACKGROUND: Finite element simulation has been used in last years for analysing the biomechanical performance of post-core restorations in endodontics, but results of these simulations have been interpreted in most of the works using von Mises stress criterion. However, the validity of this failure criterion for brittle materials, which are present in these restorations, is questionable. The objective of the paper is to analyse how finite element results for brittle materials of endodontic restorations should be interpreted to obtain correct conclusions about the possible failure in the restoration. METHODS: Different failure criteria (Von Mises, Rankine, Coulomb-Mohr, Modified Mohr and Christensen) and material strength data (diametral tensile strength and flexural strength) were considered in the study. Three finite element models (FEM) were developed to simulate an endodontic restoration and two typical material tests: diametral tensile test and flexural test. RESULTS: Results showed that the Christensen criterion predicts similar results as the Von Mises criterion for ductile components, while it predicts similar results to all other criteria for brittle components. The different criteria predict different failure points for the diametral tensile test, all of them under multi-axial stress states. All criteria except Von Mises predict failure for flexural test at the same point of the specimen, with this point under uniaxial tensile stress. CONCLUSIONS: From the results it is concluded that the Christensen criterion is recommended for FEM result interpretation in endodontic restorations and that the flexural test is recommended to estimate tensile strength instead of the diametral tensile test.

A modified elastic foundation contact model for application in 3D models of the prosthetic knee.

Different models have been used in the literature for the simulation of surface contact in biomechanical knee models. However, there is a lack of systematic comparisons of these models applied to the simulation of a common case, which will provide relevant information about their accuracy and suitability for application in models of the implanted knee. In this work a comparison of the Hertz model (HM), the elastic foundation model (EFM) and the finite element model (FEM) for the simulation of the elastic contact in a 3D model of the prosthetic knee is presented. From the results of this comparison it is found that although the nature of the EFM offers advantages when compared with that of the HM for its application to realistic prosthetic surfaces, and when compared with the FEM in CPU time, its predictions can differ from FEM in some circumstances. These differences are considerable if the comparison is performed for prescribed displacements, although they are less important for prescribed loads. To solve these problems a new modified elastic foundation model (mEFM) is proposed that maintains basically the simplicity of the original model while producing much more accurate results. In this paper it is shown that this new mEFM calculates pressure distribution and contact area with accuracy and short computation times for toroidal contacting surfaces. Although further work is needed to confirm its validity for more complex geometries the mEFM is envisaged as a good option for application in 3D knee models to predict prosthetic knee performance.

Scalability of the muscular action in a parametric 3D model of the index finger.

A method for scaling the muscle action is proposed and used to achieve a 3D inverse dynamic model of the human finger with all its components scalable. This method is based on scaling the physiological cross-sectional area (PCSA) in a Hill muscle model. Different anthropometric parameters and maximal grip force data have been measured and their correlations have been analyzed and used for scaling the PCSA of each muscle. A linear relationship between the normalized PCSA and the product of the length and breadth of the hand has been finally used for scaling, with a slope of 0.01315 cm(-2), with the length and breadth of the hand expressed in centimeters. The parametric muscle model has been included in a parametric finger model previously developed by the authors, and it has been validated reproducing the results of an experiment in which subjects from different population groups exerted maximal voluntary forces with their index finger in a controlled posture.

Description and validation of a non-invasive technique to measure the posture of all hand segments.

The aim of this work is to describe and validate a technique for measuring the posture of all the segments of the hand in a non-invasive way. The technique uses digital photographic images to reconstruct 3-D location of markers drawn on the skin. The markers are defined to obtain joint rotation angles with physiological meaning. Different experiments have been developed in order to analyze the accuracy and repeatability of the angle measurements. Although the placement of markers does not require any special care, the errors due to their location are lower than 2.6 deg in all cases, thus assuring the repeatability of the technique.