Roda-Sales the motor system is hypothesised to use kinematic synergies to simplify hand control. Recent studies suggest that there is a large set of synergies, sparse in degrees of freedom, shared across subjects, so that each subject performs each action with a sparse combination of synergies. identifying how synergies are shared across subjects can help in prostheses design, in clinical decision-making or in rehabilitation. Subject-specific synergies of healthy subjects performing a wide number of representative daily living activities were obtained through principal component analysis. to make synergies comparable between subjects and tasks, the hand kinematics data were scaled using normative range of motion data. to obtain synergies sparse in degrees of freedom a rotation method that maximizes the sum of the variances of the squared loadings was applied. Resulting synergies were clustered and each cluster was characterized by a core synergy and different indexes (prevalence, relevance for function and within-cluster synergy similarity), substantiating the sparsity of synergies. The first two core synergies represent finger flexion and were present in all subjects. The remaining core synergies represent coordination of the thumb joints, thumb-index joints, palmar arching or fingers adduction, and were employed by subjects in different combinations, thus revealing different subjectspecific strategies.

Linking hand kinematics and forearm muscle activity is a challenging and crucial problem for several domains, such as prosthetics, 3D modelling or rehabilitation. To advance in this relationship between hand kinematics and muscle activity, synchronised and well-defined data are needed. However, currently available datasets are scarce, and the presented tasks and data are often limited. this paper presents the KIN-MUS UJI Dataset that contains 572 recordings with anatomical angles and forearm muscle activity of 22 subjects while performing 26 representative activities of daily living. This dataset is, to our knowledge, the biggest currently available hand kinematics and muscle activity dataset to focus on goal-oriented actions. Data were recorded using a CyberGlove instrumented glove and surface EMG electrodes, both properly synchronised. Eighteen hand anatomical angles were obtained from the glove sensors by a validated calibration procedure. Surface EMG activity was recorded from seven representative forearm areas. The statistics verified that data were not affected by the experimental procedures and were similar to the data acquired under real-life conditions.

Improving the understanding of hand kinematics during the performance of activities of daily living may help improve the control of hand prostheses and hand function assessment. This work identifies sparse synergies (each degree of freedom is present mainly in only one synergy), representative of the global population, with emphasis in unveiling the coordination of joints with small range of motion (palmar arching and fingers abduction). The study is the most complete study described in the literature till now, involving 22 healthy subjects and 26 representative day-to-day life activities. Principal component analysis was used to reduce the original 16 angles recorded with an instrumented glove. Five synergies explained 75% of total variance: closeness (coordinated flexion and abduction of metacarpophalangeal finger joints), digit arching (flexion of proximal interphalangeal joints), palmar-thumb coordination (coordination of palmar arching and thumb carpometacarpal flexion), thumb opposition, and thumb arch. The temporal evolution of these synergies is provided during reaching per intended grasp and during manipulation per specific task, which could be used as normative patterns for the global population. Reaching has been observed to require the modulation of closeness, digit arch and thumb opposition synergies, with different control patterns per grasp. All the synergies are very important during manipulation and need to be modulated for all the tasks. Finally, groups of tasks with similar kinematic requirements in terms of synergies have been identified, which could benefit the selection of tasks for rehabilitation and hand function assessments.

These results may serve as a basis for future studies aimed at investigating the role of dynamic stiffness identified herein in different foot disorders. The importance of properly controlling the samples in such studies is highlighted. Study of the dynamic stiffnesses identified might be used in the design of prostheses, orthoses, and other assistive devices.

This work presents a database of human hand kinematics containing data collected during the performance of a wide variety of activities of daily living involving feeding and cooking. The data were recorded using CyberGlove instrumented gloves on both hands measuring 18 degrees of freedom on each. A total of 20 subjects participated in each part of the experiment, and the objects and their arrangement were the same across subjects, although they performed the tasks in a natural non-directed way. This dataset contains a total of 1160 continuous calibrated recordings taken at 100 Hz during the performance of the tasks, with filtered signal. Statistical descriptive analyses from these data are presented. This database can be useful for machine learning purposes and prostheses control, as well as for the characterization of healthy human hand kinematics.