Evaluation of individual finger forces during activities of daily living in healthy individuals and those with hand arthritis

Soft Nanomembrane Sensor-Enabled Wearable Multimodal Sensing and Feedback System for Upper-Limb Sensory Impairment Assistance

Sensory rehabilitation in pediatric patients with traumatic spinal cord injury is challenging due to the ongoing development of their nervous systems. However, these sensory problems often result in nonuse of the impaired limb, which disturbs impaired limb rehabilitation and leads to overuse of the contralateral limb and other physical or psychological issues that may persist. Here, we introduce a soft nanomembrane sensor-enabled wearable glove system that wirelessly delivers a haptic sensation from the hand with tactile feedback responses for sensory impairment assistance. The smart glove system uses gold nanomembranes, copper-elastomer composites, and laser-induced graphene for the sensitive detection of pressure, temperature, and strain changes. The nanomaterial sensors are integrated with low-profile tactile actuators and wireless flexible electronics to offer real-time sensory feedback. The wearable system's thin-film sensors demonstrate 98% and 97% accuracy in detecting pressure and finger flexion, respectively, along with a detection coverage of real-life temperature changes as an effective rehabilitation tool. Collectively, the upper-limb sensory impairment assistance system embodies the latest in soft materials and wearable technology to incorporate soft sensors and miniaturized actuators and maximize its compatibility with human users, offering a promising solution for patient sensory rehabilitation.

Synergistic grasp analysis: A cross-sectional exploration using a multi-sensory data glove

This paper investigates hand grasping, a fundamental activity in daily living, by examining the forces and postures involved in the lift-and-hold phases of grasping. We introduce a novel multi-sensory data glove, integrated with resistive flex sensors and capacitive force sensors, to measure the intricate dynamics of hand movement. The study engaged five subjects to capture a comprehensive dataset that includes contact forces at the fingertips and joint angles, furnishing a detailed portrayal of grasp mechanics. Focusing on grasp synergies, our analysis delved into the quantitative relationships between the correlated forces among the fingers. By manipulating one variable at a time-either the object or the subject-our cross-sectional approach yields rich insights into the nature of grasp forces and angles. The correlation coefficients for finger pairs presented median values ranging from 0.5 to nearly 0.9, indicating varying degrees of inter-finger coordination, with the thumb-index and index-middle pairs exhibiting particularly high synergy. The findings, depicted through spider charts and correlation coefficients, reveal significant patterns of cooperative finger behavior. These insights are crucial for the advancement of hand mechanics understanding and have profound implications for the development of assistive technologies and rehabilitation devices.

Spike-Based Neuromorphic Hardware for Dynamic Tactile Perception with a Self-Powered Mechanoreceptor Array

A self-powered mechanoreceptor array is demonstrated using four mechanoreceptor cells for recognition of dynamic touch gestures. Each cell consists of a triboelectric nanogenerator (TENG) for touch sensing and a bi-stable resistor (biristor) for spike encoding. It produces informative spike signals by sensing a force of an external touch and encoding the force into the number of spikes. An array of the mechanoreceptor cells is utilized to monitor various touch gestures and it successfully generated spike signals corresponding to all the gestures. To validate the practicality of the mechanoreceptor array, a spiking neural network (SNN), highly attractive for power consumption compared to the conventional von Neumann architecture, is used for the identification of touch gestures. The measured spiking signals are reflected as inputs for the SNN simulations. Consequently, touch gestures are classified with a high accuracy rate of 92.5%. The proposed mechanoreceptor array emerges as a promising candidate for a building block of tactile in-sensor computing in the era of the Internet of Things (IoT), due to the low cost and high manufacturability of the TENG. This eliminates the need for a power supply, coupled with the intrinsic high throughput of the Si-based biristor employing complementary metal-oxide-semiconductor (CMOS) technology.

Fractional Lengthening of Forearm Flexor Tendons: A Cadaveric Biomechanical Analysis

PURPOSE

Multiple procedures have been described for wrist and finger flexion contractures and spasticity. Fractional lengthening of forearm flexor tendons involves making parallel transverse tenotomies at the musculotendinous junction to elongate the muscle. Currently, there is limited literature to define the biomechanical consequences of this lengthening technique.

METHODS

Forty-eight flexor tendons were harvested from eight paired upper limbs including flexor carpi radialis, flexor carpi ulnaris, flexor pollicis longus, and flexor digitorum superficialis tendons. Each tendon that was lengthened was paired with the contralateral tendon as a control. A pair of transverse tenotomies were completed for the fractional lengthening. The first tenotomy was performed at the musculotendinous junction where the tendon narrowed to 75% of its maximal width. The second tenotomy was made 1 cm distal to the first. Tendon length was measured before and after fractional lengthening at a constant resting tension of 1 N. The maximum load at failure of each tendon and the mechanism of failure were each measured and compared with the contralateral side.

RESULTS

After fractional lengthening, the mean increase in resting tendon length was 4 mm. When loaded to failure, the mean maximum load of fractionally lengthened tendons was 42% of the mean maximum load of intact tendons. All lengthened tendons failed at the distal tenotomy site.

CONCLUSIONS

Fractional lengthening resulted in an increase of 3-6 mm (mean: 4 mm) in tendon length at resting tension. There was a significant loss in tensile strength and load to failure following fractional lengthening compared with an intact musculotendinous unit.

CLINICAL RELEVANCE

The reduction in tensile strength following fractional lengthening results in loads at failure that are, in some cases, lower than the estimated forces required to perform basic tasks. Caution during the healing and rehabilitation period is warranted.

Biomechanical Analysis of Headless Compression Screw Versus Tension Band Wiring for Proximal Interphalangeal Joint Arthrodesis

PURPOSE

Proximal interphalangeal (PIP) joint arthrodesis is a procedure employed to address arthritis, instability, and deformity. Multiple fixation methods are available to maintain stability across the arthrodesis interval, including headless compression screws (HCSs), tension band wiring (TBW), plating, and Kirschner wire constructs. The purpose of this study was to compare the biomechanical properties of the HCS and TBW techniques.

METHODS

Thirty-two nonthumb digits from the paired upper limbs of four fresh frozen cadavers were divided into pairs, matching contralateral digits from the same specimen. One PIP joint of each pair was fused with an antegrade 3.5 mm HCS, and the second was fused with TBW using 0.035 in. Kirschner wires with 24-gauge dental wire. Each construct was then stressed to 10 N in the radial deviation, ulnar deviation, flexion, and extension planes, and stiffness (N/mm) was calculated. The fingers were stressed to failure in extension with the ultimate load and mode of failure recorded.

RESULTS

When stressed in extension, the HCS construct had a significantly greater mean stiffness than the TBW construct (16.4 N/mm vs 10.8 N/mm). The stiffness in all other planes of motion were similar between the two constructs. The mean ultimate load to failure in extension was 91.4 N for the HCS and 41.9 N for the TBW. The most common mode of failure was fracture of the dorsal lip of the proximal phalanx (13/16) for the HCS and bending of the K-wires (15/16) for TBW.

CONCLUSIONS

Arthrodesis of the PIP joint using a HCS resulted in a construct that was significantly stiffer in extension with greater than double the load to failure compared to TBW.

CLINICAL RELEVANCE

Although the stiffness required to achieve successful PIP joint arthrodesis has not been well quantified, the HCS proved to be the most favorable construct with respect to initial strength and stability.

Superior bone fixation of conical compared with hemispherical trapezial cup design: an experimental radiostereometry study

PURPOSE

The most used cup designs for trapeziometacarpal (TMC) arthroplasty are of hemispherical and conical geometrical shape. Using a validated pig bone model, we compared the bone fixation using radiostereometry (RSA).

METHODS

Twenty saddle-shaped pig forefoot bones were prepared with insertion of bone markers and reaming. Hemispherical Type T cups (Beznoska, Kladno, Czech Republic) (N = 10) and conical Moovis cups (Stryker, Pusignan, France) (N = 10) of 9-mm diameter were inserted press-fit. The bones were fixed in cement blocks for stability, and the cups were loaded in a motorized test stand. First, a low-pressure cyclic load test (0-150N) with 130 compression cycles was performed. Next, a push-in test of progressive loads with 50N increments (range: 150-900N) was applied until a visual change in cup position appeared. Cup migration was evaluated with RSA after every new load application. Cup failure was defined as total translation > 0.5 mm between two load applications.

RESULTS

Both cup types tolerated a compression load of 450 N without failure. Beyond this load level, the total translation cup migration of mean 0.20 mm (95% CI 0.11; 0.30) for the Type T group was higher than mean 0.10 mm (95% CI 0.06; 0.15) of the Moovis group (p = 0.046). The Hazard ratio for failure was 0.52 (95% CI 0.12; 2.17) (p = 0.37), indicating that the risk of failure was two-fold higher in the Type T group.

CONCLUSION

We conclude that conical TMC cups have superior fixation as compared to hemispherical cups above a loading level of 450 N, which correspond to a 3.8 kg tip-pinch. In a clinical perspective, based on the fixation strength of both cup types, it seems safe to allow light-load activities of daily living such as buttoning a shirt and using a key shortly after surgery and until sufficient osseointegration is achieved.

Biomechanical Variability and Usability of a Novel Customizable Fracture Fixation Technique

A novel in situ customizable osteosynthesis technique, Bonevolent™ AdhFix, demonstrates promising biomechanical properties under the expertise of a single trained operator. This study assesses inter- and intra-surgeon biomechanical variability and usability of the AdhFix osteosynthesis platform. Six surgeons conducted ten osteosyntheses on a synthetic bone fracture model after reviewing an instruction manual and completing one supervised osteosynthesis. Samples underwent 4-point bending tests at a quasi-static loading rate, and the maximum bending moment (BM), bending stiffness (BS), and AdhFix cross-sectional area (CSA: mm²) were evaluated. All constructs exhibited a consistent appearance and were suitable for biomechanical testing. The mean BM was 2.64 ± 0.57 Nm, and the mean BS was 4.35 ± 0.44 Nm/mm. Statistically significant differences were observed among the six surgeons in BM (p < 0.001) and BS (p = 0.004). Throughout ten trials, only one surgeon demonstrated a significant improvement in BM (p < 0.025), and another showed a significant improvement in BS (p < 0.01). A larger CSA corresponded to a statistically significantly higher value for BM (p < 0.001) but not for BS (p = 0.594). In conclusion, this study found consistent biomechanical stability both across and within the surgeons included, suggesting that the AdhFix osteosynthesis platform can be learned and applied with minimal training and, therefore, might be a clinically viable fracture fixation technique. The variability in BM and BS observed is not expected to have a clinical impact, but future clinical studies are warranted.

Efficacy of interactive manual dexterity training after stroke: a pilot single-blinded randomized controlled trial

OBJECTIVE

To compare the efficacy of Dextrain Manipulandum™ training of dexterity components such as force control and independent finger movements, to dose-matched conventional therapy (CT) post-stroke.

METHODS

A prospective, single-blind, pilot randomized clinical trial was conducted. Chronic-phase post-stroke patients with mild-to-moderate dexterity impairment (Box and Block Test (BBT) > 1) received 12 sessions of Dextrain or CT. Blinded measures were obtained before and after training and at 3-months follow-up. Primary outcome was BBT-change (after-before training). Secondary outcomes included changes in motor impairments, activity limitations and dexterity components. Corticospinal excitability and short intracortical inhibition (SICI) were measured using transcranial magnetic stimulation.

RESULTS

BBT-change after training did not differ between the Dextrain (N = 21) vs CT group (N = 21) (median [IQR] = 5[2-7] vs 4[2-7], respectively; P = 0.36). Gains in BBT were maintained at the 3-month post-training follow-up, with a non-significant trend for enhanced BBT-change in the Dextrain group (median [IQR] = 3[- 1-7.0], P = 0.06). Several secondary outcomes showed significantly larger changes in the Dextrain group: finger tracking precision (mean ± SD = 0.3 ± 0.3N vs - 0.1 ± 0.33N; P < 0.0018), independent finger movements (34.7 ± 25.1 ms vs 7.7 ± 18.5 ms, P = 0.02) and maximal finger tapping speed (8.4 ± 7.1 vs 4.5 ± 4.9, P = 0.045). At follow-up, Dextrain group showed significantly greater improvement in Motor Activity Log (median/IQR = 0.7/0.2-0.8 vs 0.2/0.1-0.6, P = 0.05). Across both groups SICI increased in patients with greater BBT-change (Rho = 0.80, P = 0.006). Comparing Dextrain subgroups with maximal grip force higher/lower than median (61.2%), BBT-change was significantly larger in patients with low vs high grip force (7.5 ± 5.6 vs 2.9 ± 2.8; respectively, P = 0.015).

CONCLUSIONS

Although immediate improvements in gross dexterity post-stroke did not significantly differ between Dextrain training and CT, our findings suggest that Dextrain enhances recovery of several dexterity components and reported hand-use, particularly when motor impairment is moderate (low initial grip force). Findings need to be confirmed in a larger trial. Trial registration ClinicalTrials.gov NCT03934073 (retrospectively registered).

Evaluation of the FLEXotendon glove-III through a human subject case study

Cervical spinal cord injury (SCI) can significantly impair an individual's hand functionality due to the disruption of nerve signals from the brain to the upper extremity. Robotic assistive hand exoskeletons have been proposed as a potential technology to facilitate improved patient rehabilitation outcomes, but few exoskeleton studies utilize standardized hand function tests and questionnaires to produce quantitative data regarding exoskeleton performance. This work presents the human subject case study evaluation of the FLEXotendon Glove-III, a 5 degree-of-freedom voice-controlled, tendon-driven soft robotic assistive hand exoskeleton for individuals with SCI. The exoskeleton system was evaluated in a case study with two individuals with SCI through two standardized hand function tests namely, the Jebsen-Taylor Hand Function Test and the Toronto Rehabilitation Institute Hand Function Test and three questionnaires (Capabilities of Upper Extremities Questionnaire, Orthotics Prosthetics Users Survey, Quebec User Evaluation of Satisfaction with Assistive Technology). Minor design changes were made to the exoskeleton: integrated fingertip force sensors to sense excessive grasp force, a quick connect system to expedite the exoskeleton glove swapping process between users, compact tendon tension sensors to measure tendon force for admittance control, and a redesigned smartphone app to encompass all aspects of exoskeleton use.

Effects of Vibration Direction and Pressing Force on Finger Vibrotactile Perception and Force Control

This paper reports about the effects of vibration direction and finger-pressing force on vibrotactile perception, with the goal of improving the effectiveness of haptic feedback on interactive surfaces. An experiment was conducted to assess the sensitivity to normal or tangential vibration at 250 Hz of a finger exerting constant pressing forces of 0.5 or 4.9 N. Results show that perception thresholds for normal vibration depend on the applied pressing force, significantly decreasing for the stronger force level. Conversely, perception thresholds for tangential vibrations are independent of the applied force, and approximately equal the lowest thresholds measured for normal vibration.

Reliability and validity of a novel instrument for the quantification of hand forces during a jar opening task

STUDY DESIGN

Clinical Measurement INTRODUCTION: Jar opening is a task that relies heavily on the ability to generate adequate hand forces and is often reported in the literature as being difficult for women with hand arthritis. Many have studied relationships between diminished grip/pinch strength and occupational performance but few have investigated how much hand force is necessary to successfully engage in manual tasks. Those who studied this have relied on approaches and tools which lack ecology. Additionally, few have instrumented daily objects to understand if joint protection techniques do, in fact, reduce the hand force generation when performing manual tasks.

PURPOSE OF THE STUDY

The objectives of this study were to one) determine the within session repeatability of a device used to quantify these forces and two) probe into the ecological validity of a novel device to be used in the future study of women with hand osteoarthritis to measure hand force requirements and study the impact of joint protection interventions on hand force profiles.

METHODS

A plastic jar was instrumented with a torque limiter, 6-axis load cell, and six force sensing resistors so as to capture the grip and compressive hand forces which act on a jar lid when opening a sealed jar. To assess intra-rater reliability of the tool and its testing procedures, 31 adult women with hand osteoarthritis were asked untwist the jar's lid so as to break its seal with each hand twice while stabilizing the base with the opposing hand. The agreement between trials of peak forces and torques from each hand was assessed through statistical approaches including Intraclass Correlation Coefficient, Standard Error of the Measurement, and Minimal Detectable Change. The jar's ecological validity was then assessed via survey.

RESULTS

This instrument and methods yielded good to excellent repeatability across all force outputs. The majority of our subjects (87%) reported the jar to be similar to those used at home, 87% reported to use a similar jar 2-3 times/month or greater, and rated the importance of opening such a jar as being, on average, 8.7/10.

DISCUSSION

The jar instrument appears to have high reliability and ecologic validity. It has the potential to reveal hand force requirements for a population known to have difficulties opening jars and understanding these force thresholds could help to inform therapy goal-setting. Beyond this, it has the potential to support the study of the hand forces used across various joint protection approaches so as to inform best "jar-opening" practices.

CONCLUSIONS

This tool was designed to represent the qualities of a standard, large sealed jar while still housing sophisticated kinetic measurement capacities. Our findings support that we have presented a tool which can be used in future study within this population to better understand the hand kinetics associated with the highly problematic task of jar-opening and joint protection strategies intended to reduce hand loads.

Osteoarthritis year in review 2021: mechanics

Osteoarthritis (OA) has a complex, heterogeneous and only partly understood etiology. There is a definite role of joint cartilage pathomechanics in originating and progressing of the disease. Although it is still not identified precisely enough to design or select targeted treatments, the progress of this year's research demonstrates that this goal became much closer. On multiple scales - tissue, joint and whole body - an increasing number of studies were done, with impressive results. (1) Technology based instrument innovations, especially when combined with machine learning models, have broadened the applicability of biomechanics. (2) Combinations with imaging make biomechanics much more precise & personalized. (3) The combination of Musculoskeletal & Finite Element Models yield valid personalized cartilage loads. (4) Mechanical outcomes are becoming increasingly meaningful to inform and evaluate treatments, including predictive power from biomechanical models. Since most recent advancements in the field of biomechanics in OA are at the level of a proof op principle, future research should not only continue on this successful path of innovation, but also aim to develop clinical workflows that would facilitate including precision biomechanics in large scale studies. Eventually this will yield clinical tools for decision making and a rationale for new therapies in OA.

Trapeziometacarpal joint loading during key pinch grip: A cadaver study

To our knowledge, no study has directly measured the loads in the trapeziometacarpal joint during an isometric key pinch. The aim of this study was to measure the load acting on the trapeziometacarpal joint for increasingly greater key pinch forces (0.5 kg-1.5 kg). We performed a cadaver study using 10 fresh-frozen, unembalmed adult forearms and hands (5 right and 5 left). Thumb pinch was simulated by loading the main actuator tendons involved in the key pinch grip (i.e., adductor pollicis, flexor pollicis longus, extensor pollicis longus, extensor pollicis brevis and abductor pollicis longus tendons). Measurements were made inside the joint using a force-sensing resistor sensor (Tekscan® FlexiForce™ force sensor). All specimens were tested twice in a row in the same condition. The median load values recorded in the trapeziometacarpal joint were 1.9 kg (IQR 2.2-1.5), 3 kg (IQR 3.4-2.7) and 4.1 kg (IQR 4.4-3.9) during 0.5 kg, 1 kg, and 1.5 kg key pinch, respectively. For each specimen, similar load values were observed during both loading trials. Our findings indicate that the loads measured directly in the trapeziometacarpal joint during a simple key pinch are materially lower than those estimated in biomechanical models of the thumb (generally greater than 10 kg for 1 kg of applied force) probably due to intersubject variability. This pilot study will serve as a basis for further studies, for example, comparing biomechanical thumb models and experimental measurements under the same set-up conditions.

Wearable Robots: An Original Mechatronic Design of a Hand Exoskeleton for Assistive and Rehabilitative Purposes

Robotic devices are being employed in more and more sectors to enhance, streamline, and augment the outcomes of a wide variety of human activities. Wearable robots arise indeed as of-vital-importance tools for telerehabilitation or home assistance targeting people affected by motor disabilities. In particular, the field of “Robotics for Medicine and Healthcare” is attracting growing interest. The development of such devices is a primarily addressed topic since the increasing number of people in need of rehabilitation or assistive therapies (due to population aging) growingly weighs on the healthcare systems of the nation. Besides, the necessity to move to clinics represents an additional logistic burden for patients and their families. Among the various body parts, the hand is specially investigated since it most ensures the independence of an individual, and thus, the restoration of its dexterity is considered a high priority. In this study, the authors present the development of a fully wearable, portable, and tailor-made hand exoskeleton designed for both home assistance and telerehabilitation. Its purpose is either to assist patients during activities of daily living by running a real-time intention detection algorithm or to be used for remotely supervised or unsupervised rehabilitation sessions by performing exercises preset by therapists. Throughout the mechatronic design process, special attention has been paid to the complete wearability and comfort of the system to produce a user-friendly device capable of assisting people in their daily life or enabling recorded home rehabilitation sessions allowing the therapist to monitor the state evolution of the patient. Such a hand exoskeleton system has been designed, manufactured, and preliminarily tested on a subject affected by spinal muscular atrophy, and some results are reported at the end of the article.

Assessment of trapezial prosthetic cup migration: A biomechanical study

We performed a biomechanical study using 60 Sawbones® rigid foam blocks of two simulated densities (osteoporotic, n = 30 and non-osteoporotic, n = 30) and 10 cadaveric trapezium bones from fresh-frozen, unembalmed adult cadaver hands to assess the trapezial prosthetic cup migration with progressively greater compression loads (10-40 kg). Two cups from the Touch® prosthesis were compared: 9-mm conical cup and 9-mm spherical cup. Uniaxial compression tests were carried out using an MTS Criterion® Series 40 Electromechanical Testing System. Cup migration was measured in millimeters (mm) at 10, 20, and 40 kg of compression load. Median cup migration values were similar in the cadaveric trapezium bones and Sawbones® non-osteoporotic blocks, and higher in the Sawbones® osteoporotic blocks. In the cadaveric trapezium bones and the Sawbones® non-osteoporotic blocks, migration values were less than or equal to 0.1 mm for 10 and 20 kg loads; it was 0.2 mm for 40 kg load. In the Sawbones® osteoporotic blocks, migration values were less than or equal to 0.3 mm for 10 and 20 kg loads; it was 0.4-0.5 mm for 40 kg load. There was no significant difference between the two cup shapes in both cadaveric trapezium bones and Sawbones® non-osteoporotic blocks. In Sawbones® osteoporotic blocks, the largest difference between the two cup shapes was 0.1 mm for loads up to 40 kg, which corresponded to our measurement accuracy. Our findings indicate that the trapezial component of total trapeziometacarpal joint arthroplasty undergoes very weak migration for axial compression loads up to 40 kg, presumably below the threshold of clinical relevance. The cup shape did not have an obvious influence; however, low bone mineral density may result in greater cup migration.

The development of a novel grip motion analysis technique using the Dartfish movement analysis software to evaluate hand movements during activities of daily living

Individuals with hand osteoarthritis (OA) have impairments in grip strength and range of motion (ROM). Obtaining quantitative joint angle measures of the hand is difficult. Without a complete understanding of the kinematics of the hand, the assessment of hand OA when performing activities of daily living (ADL) and recreational activities is not fully understood. The objectives of this study were to establish a simple measurement technique (Grip Configuration Model) describing an individual's grip ROM using the Dartfish Movement Analysis Software, and compare the joint angle measures during maximum flexion/extension and five ADL in people with/without hand OA. Forty participants (20 without hand OA, 20 with hand OA) thumb CMC and MCP, and index MCP and PIP joint angles were evaluated for each activity using the Dartfish Software and Grip Configuration Model. Significant limitations of 17.2% (p < 0.001) and 12.7% (p = 0.01) were seen in the group with hand OA for maximum flexion/extension, respectively. The spray bottle task demonstrated a significant difference of 14.7% (p = 0.001) between the two test groups. Measurements using the Dartfish Software were compared against a manual goniometer and electromagnetic tracking system. This study demonstrated the weakened ROM in individuals with hand OA is translated to ADL and how the Grip Configuration Model simplifies the evaluation of how people grasp objects.