NDLI: Reported anatomical variability naturally leads to multimodal distributions of Denavit-Hartenberg parameters for the human thumb

Content Provider	IEEE Xplore Digital Library
Author	Santos, V.J. Valero-Cuevas, F.J.
Copyright Year	1964
Abstract	A realistic biomechanical thumb model would elucidate the functional consequences of orthopedic and neurological diseases and their treatments. We investigated whether a single parametric kinematic model can represent all thumbs, or whether different kinematic model structures are needed to represent different thumbs. We used Monte Carlo simulations to convert the anatomical variability in the kinematic model parameters into distributions of Denavit-Hartenberg parameters amenable for robotics-based models. Upon convergence (3550 simulations, where mean and coefficient of variance changed <1% for the last 20+% simulations) the distributions of Denavit-Hartenberg parameters appeared multimodal, in contrast to the reported unimodal distributions of the anatomy-based parameters. Cluster analysis and one-way analysis of variance confirmed four types of kinematic models (p<0.0001) differentiated primarily by the biomechanically relevant order of MCP joint axes (in 65.2% of models, the flexion-extension axis was distal to the adduction-abduction axis); and secondarily by a detail specifying the direction of a common normal between successive axes of rotation. Importantly, this stochastic analysis of anatomical variability redefines the debate on whether a single generic biomechanical model can represent the entire population, or if subject-specific models are necessary. We suggest a practical third alternative: that anatomical and functional variability can be captured by a finite set of model-types.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	9
File Size	886075
Starting Page	155
Ending Page	163
File Format	PDF
ISSN	00189294
Volume Number	53
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Thumb Kinematics Analysis of variance Orthopedic surgery Diseases Robots Convergence Joints Stochastic processes thumb Biomechanical model biorobotics hand kinematics stochastic simulation
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Simple and Systematic Approach to Assigning Denavit–Hartenberg Parameters

Method for Determining Kinematic Parameters of the In Vivo Thumb Carpometacarpal Joint

A Powered Finger–Thumb Wearable Hand Exoskeleton With Self-Aligning Joint Axes

A System for Three-Dimensional Interactive Simulation of Hand Biomechanics

Markerless Motion Capture and Measurement of Hand Kinematics: Validation and Application to Home-Based Upper Limb Rehabilitation

Improving the Fitness of High-Dimensional Biomechanical Models via Data-Driven Stochastic Exploration

Denavit-Hartenberg Parameterization of Euler Angles

An Underactuated Linkage Finger Mechanism for Hand Prostheses

3D knee modeling and biomechanical simulation

Reported anatomical variability naturally leads to multimodal distributions of Denavit-Hartenberg parameters for the human thumb

Similar Documents

A Simple and Systematic Approach to Assigning Denavit–Hartenberg Parameters

Method for Determining Kinematic Parameters of the In Vivo Thumb Carpometacarpal Joint

A Powered Finger–Thumb Wearable Hand Exoskeleton With Self-Aligning Joint Axes

A System for Three-Dimensional Interactive Simulation of Hand Biomechanics

Markerless Motion Capture and Measurement of Hand Kinematics: Validation and Application to Home-Based Upper Limb Rehabilitation

Improving the Fitness of High-Dimensional Biomechanical Models via Data-Driven Stochastic Exploration

Denavit-Hartenberg Parameterization of Euler Angles

An Underactuated Linkage Finger Mechanism for Hand Prostheses

3D knee modeling and biomechanical simulation

Reported anatomical variability naturally leads to multimodal distributions of Denavit-Hartenberg parameters for the human thumb