Measurements and quantitative analysis of kinematic
parameters of human hand movements have an important role in
different areas such as hand function rehabilitation, modeling of
multi-digits robotic hands, and the development of machine-man
interfaces. In this paper the assessment and evaluation of the reachto-
grasp movement by using computerized and robot-assisted method
is described. Experiment involved the measurements of hand
positions of seven healthy subjects during grasping three objects of
different shapes and sizes. Results showed that three dominant phases
of reach-to-grasp movements could be clearly identified.
[1] M. H. Schieber, M. Santello M, ''Hand function: peripheral and central
constraints on performance'', Journal of Applied Physiology, vol. 96,
2004, pp. 2293-2300.
[2] S. J. Lee, M. H. Chun, "Combination transcranial direct current
stimulation and virtual reality therapy for upper extremity training in
patients with subacute stroke", Archives of Physical Medicine and
Rehabilitation, vol. 95, no. 3, 2014, pp. 431-438.
[3] S. S. Johnson, E. Mansfield, "Prosthetic training: Upper limb", Physical
Medicine and Rehabilitation Clinics of North America, vol. 25, no. 1,
2014, pp. 133-151.
[4] M. Quigley, C. Salisbury, A. Y. Ng, and J. K. Salisbury, "Mechatronic
design of an integrated robotic hand", International Journal of Robotics
Research, vol. 33, no. 5, 2014, pp. 706-720.
[5] E. Mattar, "A survey of bio-inspired robotics hands implementation:
New directions in dexterous manipulation", Robotics and Autonomous
Systems, vol. 61, no. 5, 2013, pp. 517-544.
[6] T. Matsubara, J. Morimoto, "Bilinear modeling of EMG signals to
extract user-independent features for multiuser myoelectric interface",
IEEE Transactions on Biomedical Engineering, vol. 60, no. 8, 2013, pp.
2205-2213.
[7] T. Endo, H. Kawasaki, T. Mouri, Y. Ishigure, H. Shimomura, M.
Matsumura, and K. Koketsu, ‘’Five-fingered haptic interface robot:
HIRO III’’, IEEE Transactions on Haptics, vol. 4 no. 1, 2013, pp. 14-27.
[8] J. R. Flanagan, P. Haggard, A. Wing, ''The task in hand'', in Hand and
brain: The neurophysiology and psychology of hand movement, A.
Wing, P. Haggard, and J. R. Flanagan, Eds. San Diego: Academic Press,
1996, pp. 5-11. [9] M. Santello, M. Flanders, J. F. Soechting, ''Patterns of hand motion
during grasping and the influence of sensory guidance'', Journal of
Neuroscience, vol. 22, 2002, pp. 1426-1435.
[10] E. E. Butler, A. L. Ladd, S. A. Louie, L. E. LaMont, W. Wong, and J.
Rose, "Three-dimensional kinematics of the upper limb during a Reach
and Grasp Cycle for children", Gait and Posture, vol. 32, no. 1, 2010,
pp. 72-77.
[11] Y. Paulignan, V. G. Frak, I. Toni, M. Jeannerod, ''Influence of object
position and size on human prehension movements'', Experimental Brain
Research, vol. 114, 1997, pp. 226–234.
[12] P. Parikh, M. Davare, P. McGurrin, and M. Santello, "Corticospinal
excitability underlying digit force planning for grasping in humans",
Journal of neurophysiology, vol. 111, no. 12, 2014, pp. 2560-2569.
[13] G. Baud-Bovy, D. Prattichizzo, and S. Rossi, "Contact forces evoked by
transcranial magnetic stimulation of the motor cortex in a multi-finger
grasp", Brain research bulletin, vol. 75, no. 6, 2008, pp. 723-736.
[14] S. Dayanidhi, A. Hedberg, F. J. Valero-Cuevas, and H. Forssberg,
"Developmental improvements in dynamic control of fingertip forces
last throughout childhood and into adolescence", Journal of
neurophysiology, vol. 110, no. 7, 2013, pp. 1583-1592.
[15] M. Veber, G. Kurillo, T. Bajd, and M. Munih, "Assessment and training
of hand dexterity in virtual environment", Journal Europeen des
Systemes Automatises, vol. 41, no. 2, 2007, pp. 219-238.
[16] C. L. MacKenzie, T. Iberall, The grasping hand. Amsterdam: Elsevier
Science BV: Amsterdam, 1994.
[17] M. Jeannerod, ''Intersegmental coordination during reaching at natural
objects'', in Attention and performance IX, J. Long J and A. D. Baddeley,
Eds, Hillsdale: Erlbaum, 1981, pp. 153-169.
[18] P. Haggard, A. M. Wing, ''Coordination of hand aperture with the spatial
path of hand transport'', Experimental Brain Research, vol. 118, 1998,
pp. 286-292.
[19] J. M. Karl, I. Q. Whishaw, "Different evolutionary origins for the reach
and the grasp: An explanation for dual visuomotor channels in primate
parietofrontal cortex", Frontiers in Neurology, vol. 4, 2013.
[20] T. Grujic Supuk, T. Kodek, T. Bajd, ''Estimation of hand preshaping
during human grasping'', Medical Engineering & Physics, vol. 27, 2005,
pp. 790-797.
[21] T. Grujic Supuk, T. Bajd, G. Kurillo, ‘’Assessment of reach-to-grasp
trajectories toward stationary objects’’, Clinical biomechanics, vol. 26,
no. 8, 2011, pp. 811-818.
[1] M. H. Schieber, M. Santello M, ''Hand function: peripheral and central
constraints on performance'', Journal of Applied Physiology, vol. 96,
2004, pp. 2293-2300.
[2] S. J. Lee, M. H. Chun, "Combination transcranial direct current
stimulation and virtual reality therapy for upper extremity training in
patients with subacute stroke", Archives of Physical Medicine and
Rehabilitation, vol. 95, no. 3, 2014, pp. 431-438.
[3] S. S. Johnson, E. Mansfield, "Prosthetic training: Upper limb", Physical
Medicine and Rehabilitation Clinics of North America, vol. 25, no. 1,
2014, pp. 133-151.
[4] M. Quigley, C. Salisbury, A. Y. Ng, and J. K. Salisbury, "Mechatronic
design of an integrated robotic hand", International Journal of Robotics
Research, vol. 33, no. 5, 2014, pp. 706-720.
[5] E. Mattar, "A survey of bio-inspired robotics hands implementation:
New directions in dexterous manipulation", Robotics and Autonomous
Systems, vol. 61, no. 5, 2013, pp. 517-544.
[6] T. Matsubara, J. Morimoto, "Bilinear modeling of EMG signals to
extract user-independent features for multiuser myoelectric interface",
IEEE Transactions on Biomedical Engineering, vol. 60, no. 8, 2013, pp.
2205-2213.
[7] T. Endo, H. Kawasaki, T. Mouri, Y. Ishigure, H. Shimomura, M.
Matsumura, and K. Koketsu, ‘’Five-fingered haptic interface robot:
HIRO III’’, IEEE Transactions on Haptics, vol. 4 no. 1, 2013, pp. 14-27.
[8] J. R. Flanagan, P. Haggard, A. Wing, ''The task in hand'', in Hand and
brain: The neurophysiology and psychology of hand movement, A.
Wing, P. Haggard, and J. R. Flanagan, Eds. San Diego: Academic Press,
1996, pp. 5-11. [9] M. Santello, M. Flanders, J. F. Soechting, ''Patterns of hand motion
during grasping and the influence of sensory guidance'', Journal of
Neuroscience, vol. 22, 2002, pp. 1426-1435.
[10] E. E. Butler, A. L. Ladd, S. A. Louie, L. E. LaMont, W. Wong, and J.
Rose, "Three-dimensional kinematics of the upper limb during a Reach
and Grasp Cycle for children", Gait and Posture, vol. 32, no. 1, 2010,
pp. 72-77.
[11] Y. Paulignan, V. G. Frak, I. Toni, M. Jeannerod, ''Influence of object
position and size on human prehension movements'', Experimental Brain
Research, vol. 114, 1997, pp. 226–234.
[12] P. Parikh, M. Davare, P. McGurrin, and M. Santello, "Corticospinal
excitability underlying digit force planning for grasping in humans",
Journal of neurophysiology, vol. 111, no. 12, 2014, pp. 2560-2569.
[13] G. Baud-Bovy, D. Prattichizzo, and S. Rossi, "Contact forces evoked by
transcranial magnetic stimulation of the motor cortex in a multi-finger
grasp", Brain research bulletin, vol. 75, no. 6, 2008, pp. 723-736.
[14] S. Dayanidhi, A. Hedberg, F. J. Valero-Cuevas, and H. Forssberg,
"Developmental improvements in dynamic control of fingertip forces
last throughout childhood and into adolescence", Journal of
neurophysiology, vol. 110, no. 7, 2013, pp. 1583-1592.
[15] M. Veber, G. Kurillo, T. Bajd, and M. Munih, "Assessment and training
of hand dexterity in virtual environment", Journal Europeen des
Systemes Automatises, vol. 41, no. 2, 2007, pp. 219-238.
[16] C. L. MacKenzie, T. Iberall, The grasping hand. Amsterdam: Elsevier
Science BV: Amsterdam, 1994.
[17] M. Jeannerod, ''Intersegmental coordination during reaching at natural
objects'', in Attention and performance IX, J. Long J and A. D. Baddeley,
Eds, Hillsdale: Erlbaum, 1981, pp. 153-169.
[18] P. Haggard, A. M. Wing, ''Coordination of hand aperture with the spatial
path of hand transport'', Experimental Brain Research, vol. 118, 1998,
pp. 286-292.
[19] J. M. Karl, I. Q. Whishaw, "Different evolutionary origins for the reach
and the grasp: An explanation for dual visuomotor channels in primate
parietofrontal cortex", Frontiers in Neurology, vol. 4, 2013.
[20] T. Grujic Supuk, T. Kodek, T. Bajd, ''Estimation of hand preshaping
during human grasping'', Medical Engineering & Physics, vol. 27, 2005,
pp. 790-797.
[21] T. Grujic Supuk, T. Bajd, G. Kurillo, ‘’Assessment of reach-to-grasp
trajectories toward stationary objects’’, Clinical biomechanics, vol. 26,
no. 8, 2011, pp. 811-818.
@article{"International Journal of Medical, Medicine and Health Sciences:68861", author = "Tamara Grujic and Mirjana Bonkovic", title = "Measurement and Analysis of Human Hand Kinematics", abstract = "Measurements and quantitative analysis of kinematic
parameters of human hand movements have an important role in
different areas such as hand function rehabilitation, modeling of
multi-digits robotic hands, and the development of machine-man
interfaces. In this paper the assessment and evaluation of the reachto-
grasp movement by using computerized and robot-assisted method
is described. Experiment involved the measurements of hand
positions of seven healthy subjects during grasping three objects of
different shapes and sizes. Results showed that three dominant phases
of reach-to-grasp movements could be clearly identified.
", keywords = "Human hand, kinematics, reach-to-grasp movement.", volume = "9", number = "2", pages = "97-6", }
