Transmission of Musculotendon Forces to the Index Finger

  • Sang Wook Lee
  • Derek G. Kamper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 95)


This chapter reviews work completed by the authors and others to examine the mechanisms of musculotendon force transmission to the index finger and, ultimately, to generation of desired force at or movement of the fingertip. Specifically we examined the roles of finger posture, passive joint impedance, anatomical pulleys, and the extensor hood in mapping muscle forces to finger dynamics. Results from in vivo and in vitro experiments, as well as from biomechanical modeling of the musculotendon structure of the index finger, are provided. These findings can inform both the study of motor control of the hand and the potential design of robotic end-effectors.


Index finger Musculotendon Moment arm Posture Passive joint impedance Pulley Extensor hood 



This work was supported in part by Coleman Foundation, and in part by the National Institute of Health under Grant 1R01NS052369-01A1 (NINDS).


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Biomedical EngineeringThe Catholic University of AmericaWashingtonUSA
  2. 2.Center for Applied Biomechanics and Rehabilitation ResearchMedStar National Rehabilitation HospitalWashingtonUSA
  3. 3.Department of Biomedical EngineeringIllinois Institute of TechnologyChicagoUSA
  4. 4.Sensory Motor Performance ProgramRehabilitation Institute of ChicagoChicagoUSA

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