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Biomechanical Analysis of Hand Grip Motion for Optimal Handle Design Using a Cadaver Model

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Biomechanical Analysis of Hand Grip Motion for Optimal Handle Design Using a Cadaver Model The Pennsylvania State University The Graduate School College of Engineering BIOMECHANICAL ANALYSIS OF HAND GRIP MOTION FOR OPTIMAL HANDLE DESIGN USING A CADAVER MODEL A Dissertation in Industrial Engineering by Shihyun Park 2009 Shihyun Park Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy August 2009 ii The Dissertation of Shihyun Park was reviewed and approved* by the following: Andris Freivalds Professor of Industrial and Manufacturing Engineering Dissertation Advisor Chair of Committee David J. Cannon Associate Professor of Industrial and Manufacturing Engineering Ling Rothrock Associate Professor of Industrial and Manufacturing Engineering Neil A. Sharkey Professor of Kinesiology, Orthopaedics and Rehabilitation Associate Dean of Research and Graduate Education M. Jeya Chandra Professor of Industrial and Manufacturing Engineering Graduate Program Coordinator *Signatures are on file in the Graduate School iii ABSTRACT Forceful exertion of tendons while gripping hand tools may be one of the factors that lead to the development of work-related musculoskeletal disorders (WRMSDs). Also, the ratio between internal tendon force and externally applied grip force is necessary to design an optimal handle size to maximize efficiency of the force and reduce an excessive tendon force. Previous research has indicated that flexor digitorum profundus (FDP) and flexor digitorum superficialis (FDS) forces can be up to 3.7 times the external forces predicted by a biomechanical model. However, these values were indirect estimates derived from the biomechanical model to predict internal tendon forces. Although anatomically precise, the model was challenging to implement in practice, since it requires input parameters that are often difficult or impossible to measure. Therefore, it is imperative that the model is validated with direct measurement of tendon forces using human cadaver forearms. The cadaver model with hand motion simulator allowed the application of controlled forces to the flexor tendons by the force delivery unit while the resulting grip forces were measured with force sensitive resistors. Consequently, the actual tendon forces generated by the actuators were compared with externally applied force (grip force and finger force distribution) in power grip motion with various diameter handles. Moreover, the effect of different tendon force ratios of FDP to FDS was investigated to explore kinematic role of the ratio in power grip motion. Also, the resulting data were compared to similar measures reported in the literature and input to mathematical model to validate. Results of validation of the hand motion simulator with showed that actual tendon forces activated by the system had an average of 0.97N error compared to target forces input. It was acceptable to use the hand motion simulator for the experiments. In terms of tendon force ratios of FDP to FDS, 40% of FDS to total tendon force (3:2 FDP to FDS) showed highest grip force and contact force distribution. The ratio of internal tendon force and externally applied force showed that the tendon force was on average 5.3 times higher than grip force and the efficiency of the forces was best at the 3:2 FDP to FDS force ratio and the smallest diameter handle. Grip force generated by pulling tendons was iv highest with small diameter handle (30mm) and lowest with large handle (60mm). The index and middle fingers contributed an average of 57.6% of total contact force of each phalange and the contribution of ring finger was smaller, followed by the little finger with the smallest contribution. Most phalange forces in power grip motion were concentrated on the distal phalange (72.4%) and others were notably low. In the assessment of finger joint angle, the joint angles were changed according to the tendon force ratios of FDP to FDS. Higher FDP force ratio made DIP joint flex and PIP joint straight. On the other side, high proportion of FDS force in flexor tendon showed stretched DIP joint and flexed PIP joint angle. Finally, the result of this study was input to the mathematical model to validate the model. The predicted FDP force calculated by the model was 61% higher than the actual FDP force directly measured by the cadaver model and the predicted FDS force was 38% less than the actual FDS force. Despite some differences, in general the hand motion simulator with a cadaver model produced finger kinematics closely resembling those that occur in normal human grasping and showed similar hand biomechanics result with previous studies that investigated grip force and finger force distribution with handles. v TABLE OF CONTENTS LIST OF FIGURES ..................................................................................................... viii LIST OF TABLES ....................................................................................................... xi ABBREVIATIONS ..................................................................................................... xii ACKNOWLEDGEMENTS ......................................................................................... xiii Chapter 1 INTRODUCTION ...................................................................................... 1 1.1. Problem Statement ......................................................................................... 1 1.2. Study Objectives ............................................................................................ 4 Chapter 2 BACKGROUND ........................................................................................ 7 2.1. Review of Work-Related Musculoskeletal Disorders (WMSDs) .................. 7 2.1.1. Occupational injuries in the U.S. ......................................................... 7 2.1.2. Work-Related Musculoskeletal Disorders (WMSDs) ......................... 9 2.1.3. Risk factors associated with WMSDs ................................................. 10 2.2. Anatomy of the Hand and Wrist .................................................................... 12 2.2.1. Skeleton of the hand ............................................................................ 12 2.2.2. Joint of the hand .................................................................................. 13 2.2.3. Muscles of the hand ............................................................................. 15 2.2.4. Pulley system of the flexor tendon sheath ........................................... 24 2.3. Biomechanical analysis of the hand .............................................................. 26 2.3.1. Analytic models ................................................................................... 26 2.3.2. Experimental analysis .......................................................................... 29 2.3.3. Tendon force ratio of the FDP and FDS .............................................. 33 2.3.4. A Two dimensional hand model .......................................................... 39 Chapter 3 THE HAND MOTION SIMULATOR ...................................................... 45 3.1. Support Frame ............................................................................................... 45 3.1.1. Forearm fixators .................................................................................. 47 3.1.2. Cylindrical handle and handle fixture ................................................ 49 3.2. Motion System ............................................................................................... 51 3.2.1. Force delivery unit ............................................................................... 51 3.2.2. Muscle force control ............................................................................ 53 3.2.3. Muscle forces in the experiment .......................................................... 56 3.3. Data Acquisition System ............................................................................... 58 3.3.1. Tendon and grip force measurement ................................................... 58 3.3.2. Finger force distribution measurement ................................................ 61 3.4. Machine Vision System ................................................................................. 63 3.4.1. Vision system ...................................................................................... 63 vi 3.4.2. Image process ...................................................................................... 65 3.5. Software ......................................................................................................... 66 3.6. Calibration ..................................................................................................... 68 3.6.1. Motion calibration ............................................................................... 68 3.6.2. Force transducer calibration ................................................................ 72 Chapter 4 EXPERIMENTS ........................................................................................ 74 4.1. Overview ........................................................................................................ 74 4.2. Specimen ........................................................................................................ 74 4.2.1. Anthropometric data ............................................................................ 76 4.3. Experimental Procedure ................................................................................. 77 4.3.1. Tendon forces .....................................................................................
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