scholarly journals Wrist Position Sense in Two Dimensions: Between-Hand Symmetry and Anisotropic Accuracy Across the Space

2021 ◽  
Vol 15 ◽  
Author(s):  
Giulia A. Albanese ◽  
Michael W. R. Holmes ◽  
Francesca Marini ◽  
Pietro Morasso ◽  
Jacopo Zenzeri
Keyword(s):  
Wrist Joint ◽  
Position Sense ◽  
Two Dimensions ◽  
Joint Position ◽  
Wrist Flexion ◽  
Ulnar Deviation ◽  
Target Direction ◽  
Wrist Position ◽  
Flexion Extension ◽  
Combined Movements

A deep investigation of proprioceptive processes is necessary to understand the relationship between sensory afferent inputs and motor outcomes. In this work, we investigate whether and how perception of wrist position is influenced by the direction along which the movement occurs. Most previous studies have tested Joint Position Sense (JPS) through 1 degree of freedom (DoF) wrist movements, such as flexion/extension (FE) or radial/ulnar deviation (RUD). However, the wrist joint has 3-DoF and many activities of daily living produce combined movements, requiring at least 2-DoF wrist coordination. For this reason, in this study, target positions involved movement directions that combined wrist flexion or extension with radial or ulnar deviation. The chosen task was a robot-aided Joint Position Matching (JPM), in which blindfolded participants actively reproduced a previously passively assumed target joint configuration. The JPM performance of 20 healthy participants was quantified through measures of accuracy and precision, in terms of both perceived target direction and distance along each direction of movement. Twelve different directions of movement were selected and both hands tested. The left and right hand led to comparable results, both target extents and directions were differently perceived according to the target direction on the FE/RUD space. Moreover, during 2-DoF combined movements, subjects’ perception of directions was impaired when compared to 1-DoF target movements. In summary, our results showed that human perception of wrist position on the FE/RUD space is symmetric between hands but not isotropic among movement directions.

Quantification of Hand Grip Force under Dynamic Conditions

1993 ◽  
Vol 37 (10) ◽  
pp. 715-719 ◽  
Author(s):  
Katherine R. Lehman ◽  
W. Gary Allread ◽  
P. Lawrence Wright ◽  
William S. Marras
Keyword(s):  
Grip Force ◽  
Wrist Flexion ◽  
Range Of Movement ◽  
Ulnar Deviation ◽  
Dynamic Conditions ◽  
Radial Deviation ◽  
Hand Grip ◽  
Flexion Extension ◽  
Maximum Grip ◽  
Lower Grip

A laboratory experiment was conducted to determine whether grip force capabilities are lower when the wrist is moved than in a static position. The purpose was to determine the wrist velocity levels and wrist postures that had the most significant effect on grip force. Maximum grip forces of five male and five female subjects were determined under both static and dynamic conditions. The dominant wrist of each subject was secured to a CYBEX II dynamometer and grip force was collected during isokinetic wrist deviations for four directions of motion (flexion to extension, extension to flexion, radial to ulnar, and ulnar to radial). Six different velocity levels were analyzed and grip forces were recorded at specific wrist positions throughout each range of movement. For flexion-extension motions, wrist positions from 45 degrees flexion to 45 degrees extension were analyzed whereas positions from 20 degrees radial deviation to 20 degrees ulnar deviation were studied for radial-ulnar activity. Isometric exertions were also performed at each desired wrist position. Results showed that, for all directions of motion, grip forces for all isokinetic conditions were significantly lower than for the isometric exertions. Lower grip forces were exhibited at extreme wrist flexion and extreme radial and ulnar positions for both static and dynamic conditions. The direction of motion was also found to affect grip strength; extension to flexion exertions produced larger grip forces than flexion to extension exertions and radial to ulnar motion showed larger grip forces than ulnar to radial deviation. Although, males produced larger grip forces than females in all exertions, significant interactions between gender and velocity were noted.

Three-dimensional kinematics of the lunate, hamate, capitate and triquetrum with type 1 or 2 lunate morphology

2017 ◽  
Vol 43 (4) ◽  
pp. 380-386 ◽  
Author(s):  
Shingo Abe ◽  
Hisao Moritomo ◽  
Kunihiro Oka ◽  
Kazuomi Sugamoto ◽  
Kenji Kasubuchi ◽  
...  
Keyword(s):  
Standard Deviation ◽  
Wrist Joint ◽  
Three Dimensional ◽  
Wrist Flexion ◽  
Ulnar Deviation ◽  
Dart Throwing ◽  
Carpal Kinematics ◽  
Throwing Motion

The purpose of this study was to investigate the differences in three-dimensional carpal kinematics between type 1 and 2 lunates. We studied 15 instances of wrist flexion to extension (nine type 1, six type 2), 13 of radial to ulnar deviation (seven type 1, six type 2), and 12 of dart-throwing motion (six each of type 1 and 2) in 25 normal participants based on imaging with computerized tomography. Mean proximal translation of the distal articular midpoint of the triquetrum relative to type 2 lunates during wrist radioulnar deviation was 2.9 mm (standard deviation (SD) 0.7), which was significantly greater than for type 1 lunates, 1.6 mm (SD 0.6). The hamate contacted the lunate in ulnar deviation and ulnar flexion of wrists with type 2 lunates but not with type 1. We conclude that the four-corner kinematics of the wrist joint are different between type 1 and 2 lunates.

Activity of precentral neurons during torque-triggered hand movements in awake primates

1979 ◽  
Vol 57 (2) ◽  
pp. 174-184 ◽  
Author(s):  
Y. C. Wong ◽  
H. C. Kwan ◽  
J. T. Murphy
Keyword(s):  
Wrist Joint ◽  
Wrist Flexion ◽  
Somatosensory Stimulation ◽  
Sensory Stimuli ◽  
Neuronal Populations ◽  
Supportive Role ◽  
Flexion Extension ◽  
Cortical Responses ◽  
Early Portion ◽  
Temporally Correlated

In monkeys performing a handle-repositioning task involving primarily wrist flexion–extension (F–E) movements after a torque perturbation was delivered to the handle, single units were recorded extracellularly in the contralateral precentral cortex. Precentral neurons were identified by passive somatosensory stimulation, and were classified into five somatotopically organized populations. Based on electromyographic recordings, it was observed that flexors and extensors about the wrist joint were specifically involved in the repositioning of the handle, while many other muscles which act at the wrist and other forelimb joints were involved in the task in a supportive role. In precentral cortex, all neuronal responses observed were temporally correlated to both the sensory stimuli and the motor responses. Visual stimuli, presented simultaneously with torque perturbations, did not affect the early portion of cortical responses to such torque perturbations. In each of the five somatotopically organized neuronal populations, task-related neurons as well as task-unrelated ones were observed. A significantly larger proportion of wrist (F–E) neurons was related to the task, as compared with the other, nonwrist (F–E) populations. The above findings were discussed in the context of a hypothesis for the function of precentral cortex during voluntary limb movement in awake primates. This hypothesis incorporates a relationship between activities of populations of precentral neurons, defined with respect to their responses to peripheral events at or about single joints, and movements about the same joint.

Kinematic Analysis of Relative Motion within the Proximal Carpal Row

1993 ◽  
Vol 18 (5) ◽  
pp. 609-612 ◽  
Author(s):  
G. R. SENNWALD ◽  
V. ZDRAVKOVIC ◽  
H. A. C. JACOB ◽  
H. P. KERN
Keyword(s):  
Relative Motion ◽  
Kinematic Analysis ◽  
Wrist Joint ◽  
Helical Axis ◽  
Ulnar Deviation ◽  
Flexion Extension

The motions of the scaphoid and triquetrum relative to the lunate have been studied on cadaver specimens. The helical axis concept was applied. The wrist motions performed were flexion-extension and radial-ulnar deviation. The results showed increased relative motion of the scaphoid towards terminal extension, and to a lesser amount in the case of the triquetrum, towards terminal flexion. The lunate might be considered as a keystone in the proximal carpal row when wrist stability is considered. It is doubly intercalated: longitudinally and transversely. Wrist ligaments co-ordinate the positioning of the bones in the mid-range of carpal motions, and restrict further motion in extreme positions of the wrist joint.

scholarly journals Gender Differences in Capitate Kinematics are Eliminated After Accounting for Variation in Carpal Size

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Michael J. Rainbow ◽  
Joseph J. Crisco ◽  
Douglas C. Moore ◽  
Scott W. Wolfe
Keyword(s):  
Gender Differences ◽  
Wrist Joint ◽  
Carpal Bone ◽  
Ulnar Deviation ◽  
Rotation Axes ◽  
Flexion Extension ◽  
Optical Motion ◽  
Joint Center ◽  
Best Fit

Previous studies have found gender differences in carpal kinematics, and there are discrepancies in the literature on the location of the flexion∕extension and radio-ulnar deviation rotation axes of the wrist. It has been postulated that these differences are due to carpal bone size differences rather than gender and that they may be resolved by normalizing the kinematics by carpal size. The purpose of this study was to determine if differences in radio-capitate kinematics are a function of size or gender. We also sought to determine if a best-fit pivot point (PvP) describes the radio-capitate joint as a ball-and-socket articulation. By using an in vivo markerless bone registration technique applied to computed tomography scans of 26 male and 28 female wrists, we applied scaling derived from capitate length to radio-capitate kinematics, characterized by a best-fit PvP. We determined if radio-capitate kinematics behave as a ball-and-socket articulation by examining the error in the best-fit PvP. Scaling PvP location completely removed gender differences (P=0.3). This verifies that differences in radio-capitate kinematics are due to size and not gender. The radio-capitate joint did not behave as a perfect ball and socket because helical axes representing anatomical motions such as flexion-extension, radio-ulnar deviation, dart throwers, and antidart throwers, were located at distances up to 4.5mm from the PvP. Although the best-fit PvP did not yield a single center of rotation, it was still consistently found within the proximal pole of the capitate, and rms errors of the best-fit PvP calculation were on the order of 2mm. Therefore, the ball-and-socket model of the wrist joint center using the best-fit PvP is appropriate when considering gross motion of the hand with respect to the forearm such as in optical motion capture models. However, the ball-and-socket model of the wrist is an insufficient description of the complex motion of the capitate with respect to the radius. These findings may aid in the design of wrist external fixation and orthotics.

scholarly journals The passive stiffness of the wrist and forearm

2012 ◽  
Vol 108 (4) ◽  
pp. 1158-1166 ◽  
Author(s):  
Domenico Formica ◽  
Steven K. Charles ◽  
Loredana Zollo ◽  
Eugenio Guglielmelli ◽  
Neville Hogan ◽  
...  
Keyword(s):  
Wrist Joint ◽  
Rehabilitation Robot ◽  
Passive Stiffness ◽  
Ulnar Deviation ◽  
The Past ◽  
Stiffness Matrices ◽  
Flexion Extension ◽  
Stiffness Characteristics ◽  
Wrist Stiffness ◽  
Rotation Dynamics

Because wrist rotation dynamics are dominated by stiffness (Charles SK, Hogan N. J Biomech 44: 614–621, 2011), understanding how humans plan and execute coordinated wrist rotations requires knowledge of the stiffness characteristics of the wrist joint. In the past, the passive stiffness of the wrist joint has been measured in 1 degree of freedom (DOF). Although these 1-DOF measurements inform us of the dynamics the neuromuscular system must overcome to rotate the wrist in pure flexion-extension (FE) or pure radial-ulnar deviation (RUD), the wrist rarely rotates in pure FE or RUD. Instead, understanding natural wrist rotations requires knowledge of wrist stiffness in combinations of FE and RUD. The purpose of this report is to present measurements of passive wrist stiffness throughout the space spanned by FE and RUD. Using a rehabilitation robot designed for the wrist and forearm, we measured the passive stiffness of the wrist joint in 10 subjects in FE, RUD, and combinations. For comparison, we measured the passive stiffness of the forearm (in pronation-supination), as well. Our measurements in pure FE and RUD agreed well with previous 1-DOF measurements. We have linearized the 2-DOF stiffness measurements and present them in the form of stiffness ellipses and as stiffness matrices useful for modeling wrist rotation dynamics. We found that passive wrist stiffness was anisotropic, with greater stiffness in RUD than in FE. We also found that passive wrist stiffness did not align with the anatomical axes of the wrist; the major and minor axes of the stiffness ellipse were rotated with respect to the FE and RUD axes by ∼20°. The direction of least stiffness was between ulnar flexion and radial extension, a direction used in many natural movements (known as the “dart-thrower's motion”), suggesting that the nervous system may take advantage of the direction of least stiffness for common wrist rotations.

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation

2019 ◽  
Author(s):  
Jiamin Wang ◽  
Oumar Barry ◽  
Andrew J. Kurdila ◽  
Sujith Vijayan
Keyword(s):  
Controller Design ◽  
Human Motion ◽  
Structural Function ◽  
Wrist Flexion ◽  
Unknown Parameters ◽  
Ulnar Deviation ◽  
Marquardt Algorithm ◽  
Flexion Extension ◽  
Dynamics And Control ◽  
And Control

Abstract This paper introduces a novel wearable full wrist exoskeleton designed for the alleviation of tremor in patients suffering from Parkinson’s Disease and Essential Tremor. The design introduces a structure to provide full observation of wrist kinematics as well as actuation in wrist flexion/extension and radial/ulnar deviation. To examine the feasibility of the design, the coupled dynamics of the device and the forearm is modeled via a general multibody framework. The dynamic analysis considers human motion, wrist stiffness, and tremor dynamics. The analysis of the model reveals that the identification of the wrist kinematics is indispensable for the controller design. Nonlinear regression based on the Levenberg-Marquardt algorithm has been applied to estimate the unknown parameters in a kinematic structural function designed to approximate the wrist kinematics, which leads to the construction of the control system framework. Finally, several simulation cases are demonstrated to conclude the study.

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