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Optimization of the Kinematic Chain of the Thumb for a Hand Prosthesis Based on the Kapandji Opposition Test

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Computer Methods, Imaging and Visualization in Biomechanics and Biomedical Engineering (CMBBE 2019)

Part of the book series: Lecture Notes in Computational Vision and Biomechanics ((LNCVB,volume 36))

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Abstract

The thumb plays a key role in the performance of the hand for grasping and manipulating objects. In artificial hands the complex thumb’s kinematic chain (TKC) is simplified and its five degrees of freedom are reduced to only one or two with the consequent loss of dexterity of the hand. The Kapandji opposition test (KOT) has been clinically used in pathological human hands for evaluating the thumb opposition and it has also been employed in some previous studies as reference for the design of the TKC in artificial hands, but without a clearly stated methodology. Based on this approaches, in this study we present a computational method to optimize the whole TKC (base placement, link lengths and joint orientation angles) of an artificial hand based on its performance in the KOT. The cost function defined for the optimization (MPE) is a weighted mean position error when trying to reproduce the KOT postures and can be used also as a metric to quantify thumb opposition in the hand. As a case study, the method was applied to the improvement of the TKC of an artificial hand developed by the authors and the MPE was reduced to near one third of that of the original design, increasing significantly the number of reachable positions in the KOT. The metric proposed based on the KOT can be used directly or in combination with other to improve the kinematic chain of artificial hands.

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Acknowledgments

This work was supported by the Spanish Ministry of Economy and Competitiveness and ESF [grant number BES-2015-076005]; Spanish Ministry of Economy and Competitiveness, AEI and ERDF [grant numbers DPI2014-60635-R, DPI2017-89910-R]; and Universitat Jaume I [grant number UJI-B2017-70].

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Authors and Affiliations

  1. Grupo de Biomecánica y Ergonomía, Departamento de Ingeniería Mecánica y Construcción, Universitat Jaume I, 12071, Castellón, Spain

    Antonio Pérez-González & Immaculada Llop-Harillo

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  1. Antonio Pérez-González
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  2. Immaculada Llop-Harillo
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Correspondence to Antonio Pérez-González .

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Editors and Affiliations

  1. Andrew Walz Professor of Mechanical Engineering and Professor of Biomedical Engineering, Columbia University, New York, NY, USA

    Gerard A. Ateshian

  2. Department of Mechanical Engineering, Columbia University, New York, NY, USA

    Kristin M. Myers

  3. Department of Mechanical Engineering, University of Porto, Porto, Portugal

    João Manuel R. S. Tavares

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Pérez-González, A., Llop-Harillo, I. (2020). Optimization of the Kinematic Chain of the Thumb for a Hand Prosthesis Based on the Kapandji Opposition Test. In: Ateshian, G., Myers, K., Tavares, J. (eds) Computer Methods, Imaging and Visualization in Biomechanics and Biomedical Engineering. CMBBE 2019. Lecture Notes in Computational Vision and Biomechanics, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-030-43195-2_22

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  • DOI: https://doi.org/10.1007/978-3-030-43195-2_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-43194-5

  • Online ISBN: 978-3-030-43195-2

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