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Towards a minimum input biodynamic model of multi-fingered hand movements.

Towards a minimum input biodynamic model of multi-fingered hand movements.

Kang Li
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This dissertation work centers on the development of a minimum-input biodynamical model for multi-fingered hand movements. It consists of three coherent, progressively more in-depth studies.;The first study proposes a two-stage computational framework for bio-dynamic modeling of human movement. The framework decouples the conventional forward dynamic modeling process into two stages: in the first stage, two-component "agonist-antagonist" torque actuators under testable parametric control drive the forward dynamics, and the parameters are identified by an optimization-based procedure of tracking both kinematics and kinetics; the second stage completes the mapping from the muscle-tendon forces to the predicted joint torques. An empirical test using multi-finger grasping movement data demonstrates that the proposed framework allows the measured kinematics and kinetics to be faithfully and efficiently reproduced.;In the second study, the above modeling framework is applied to a hypothesis-driven comparative analysis of two different multi-fingered hand movements: cylinder-grasping and individuated flexion of the index finger . The hypothesis is that a common underlying mechanism is used to control the two different multi-fingered movements. This hypothesis is supported by the findings that the two types of movement can be reproduced by the same biodynamic model with a unified control mechanism and that the numbers of invariants remain consistent in the joint and muscle-tendon dynamics. The results also show that the number of invariants in the joint dynamics is smaller than that in the muscle-tendon dynamics and the mean correlation coefficient in the joint dynamics is larger than that in the muscle-tendon dynamics, suggesting hierarchical sources for dimensionality reduction. This study thus provides evidence to support the notion that different hyper-redundant multi-fingered movement acts can be controlled by a reduced number of input commands through a common architecture.;The third study investigates the effect of the model parameter variability on the muscle-tendon force coordination and clarifies the roles of the flexors in finger movement production and control. The premise is that accommodating variability of musculoskeletal parameters in the model would result in better population-based predictions of the muscle-tendon forces and unravel more invariant relationships in these forces. A probabilistic biodynamic model is constructed to estimate the muscle-tendon forces and shows that both flexors of the index finger contribute to sustaining the movement and the flexor digitorum superficialis muscle is not necessarily silent. The findings, contrary to what previous deterministic models have shown but in agreement with experimental measurements, clarify the controversy surrounding the roles of the flexors in finger movement dynamics.;Taken together, these studies build a unique biomechanical science foundation for a minimum-input biodynamical model that identifies important applications, including design of next-generation hand prostheses or hand rehabilitation strategies, and advancement of digital human simulation and virtual reality technologies.
Pages
92
Format
NOOKstudy eTextbook
Publisher
ProQuest LLC
Release
May 12, 2022
ISBN
1109223145
ISBN 13
9781109223149

Towards a minimum input biodynamic model of multi-fingered hand movements.

Kang Li
0/5 ( ratings)
Read Download
This dissertation work centers on the development of a minimum-input biodynamical model for multi-fingered hand movements. It consists of three coherent, progressively more in-depth studies.;The first study proposes a two-stage computational framework for bio-dynamic modeling of human movement. The framework decouples the conventional forward dynamic modeling process into two stages: in the first stage, two-component "agonist-antagonist" torque actuators under testable parametric control drive the forward dynamics, and the parameters are identified by an optimization-based procedure of tracking both kinematics and kinetics; the second stage completes the mapping from the muscle-tendon forces to the predicted joint torques. An empirical test using multi-finger grasping movement data demonstrates that the proposed framework allows the measured kinematics and kinetics to be faithfully and efficiently reproduced.;In the second study, the above modeling framework is applied to a hypothesis-driven comparative analysis of two different multi-fingered hand movements: cylinder-grasping and individuated flexion of the index finger . The hypothesis is that a common underlying mechanism is used to control the two different multi-fingered movements. This hypothesis is supported by the findings that the two types of movement can be reproduced by the same biodynamic model with a unified control mechanism and that the numbers of invariants remain consistent in the joint and muscle-tendon dynamics. The results also show that the number of invariants in the joint dynamics is smaller than that in the muscle-tendon dynamics and the mean correlation coefficient in the joint dynamics is larger than that in the muscle-tendon dynamics, suggesting hierarchical sources for dimensionality reduction. This study thus provides evidence to support the notion that different hyper-redundant multi-fingered movement acts can be controlled by a reduced number of input commands through a common architecture.;The third study investigates the effect of the model parameter variability on the muscle-tendon force coordination and clarifies the roles of the flexors in finger movement production and control. The premise is that accommodating variability of musculoskeletal parameters in the model would result in better population-based predictions of the muscle-tendon forces and unravel more invariant relationships in these forces. A probabilistic biodynamic model is constructed to estimate the muscle-tendon forces and shows that both flexors of the index finger contribute to sustaining the movement and the flexor digitorum superficialis muscle is not necessarily silent. The findings, contrary to what previous deterministic models have shown but in agreement with experimental measurements, clarify the controversy surrounding the roles of the flexors in finger movement dynamics.;Taken together, these studies build a unique biomechanical science foundation for a minimum-input biodynamical model that identifies important applications, including design of next-generation hand prostheses or hand rehabilitation strategies, and advancement of digital human simulation and virtual reality technologies.
Pages
92
Format
NOOKstudy eTextbook
Publisher
ProQuest LLC
Release
May 12, 2022
ISBN
1109223145
ISBN 13
9781109223149

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