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The Human Hand as an Inspiration for Robot Hand Development pp 77–97Cite as

Transmission of Musculotendon Forces to the Index Finger

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 95))

Abstract

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.

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Acknowledgments

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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Authors and Affiliations

  1. Department of Biomedical Engineering, The Catholic University of America, Washington, DC, 20064, USA

    Sang Wook Lee

  2. Center for Applied Biomechanics and Rehabilitation Research, MedStar National Rehabilitation Hospital, Washington, DC, 20010, USA

    Sang Wook Lee

  3. Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, 60616, USA

    Derek G. Kamper

  4. Sensory Motor Performance Program, Rehabilitation Institute of Chicago, Chicago, IL, 60611, USA

    Derek G. Kamper

Authors
  1. Sang Wook Lee
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  2. Derek G. Kamper
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Correspondence to Sang Wook Lee .

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Editors and Affiliations

  1. Oregon State University, Corvallis, Oregon, USA

    Ravi Balasubramanian

  2. Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona, USA

    Veronica J. Santos

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Lee, S.W., Kamper, D.G. (2014). Transmission of Musculotendon Forces to the Index Finger. In: Balasubramanian, R., Santos, V. (eds) The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_4

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  • DOI: https://doi.org/10.1007/978-3-319-03017-3_4

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  • Online ISBN: 978-3-319-03017-3

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