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The major goal of this investigation was to collect statistically-based anthropometry describing the kinematics of the human hand and to model this anthropometry as a function of external hand measurements, so that it may be predicted noninvasively. Joint centres were anatomically estimated as the centre of curvature of the head of the bone proximal to the given joint. Joint centres determined using Reuleaux's method for PIP and DIP were within 1.4 mm of this anatomical estimate. Models using bone length as the independent variable explain more than 97% of the variability in the anatomically estimated joint centre position along the mid-line of the bone. Models for estimating the lengths of the kinematic segments using external hand length as the independent variable account for between 49 and 99% of the variability in segment length. Models for estimating the axial location of the finger MCP and thumb CMC joints with respect to the distal wrist crease using external hand length as the independent variable account for between 82 and 96% of the variability in these locations. Models for estimating the radio-ulnar location of the finger MCP and thumb CMC joints with respect to the long axis of the third metacarpal using external hand breadth as the independent variable account for between 30 and 74% of the variability in these locations.

The objectives of this study were (a) to determine errors in wrist angle measurements from a commercially available biaxial electrogoniometer and (b) to develop a calibration routine in order to correct for these errors. Goniometric measurements were collected simultaneously with true angular data using a fixture that allowed wrist movement in one plane while restricting motion in the orthogonal plane. These data were collected in two sets of trials: flexion/extension with radial/ulnar deviation restricted, and radial/ulnar deviation with flexion/extension restricted. During these trials, we studied discrete 30 degrees increments of forearm rotation. The results showed the expected cross talk and zero drift errors during forearm rotation. The application of mathematical equations that describe the effect of goniometer twist resulted in significant error reduction for most forearm rotations. The calibration technique employs both a slope and a displacement transformation to improve the accuracy of angular data. The calibration technique may be used on data collected in the field if forearm rotation is measured simultaneously with the goniometer data.

A study was conducted to determine the friction characteristics for various materials against human palmar skin. Seven materials were tested using two pinchforce levels under both moist and dry conditions. Using a two-fingered pinch grip, subjects held a specially designed dynamometer covered with one of the test materials. They maintained a constant pinch force as load force was increased at a constant rate until the dynamometer slipped from their fingers. The load force at the slip point was then used to determine the coefficient of friction from Amonton's Law. The: effects of subject, material, moisture, pinch force and the materialmoisture and pinch iorce-moisture interactions were all significant. The coefficient of friction decreased with increased levels of pinch force for every material-moisture combination. The coefficient of friction for porous materials showed a significant increase when moisture was present. This information may be applicable in tool handle and work station surface design.

A kinematic model has been developed for simulation and prediction of the prehensile capabilities of the human hand. The kinematic skeleton of the hand is characterized by ideal joints and simple segments. Finger-joint angulation is characterized by yaw (abduction-adduction), pitch (flexion-extension) and roll (axial rotation) angles. The model is based on an algorithm that determines contact between two ellipsoids, which are used to approximate the geometry of the cutaneous surface of the hand segments. The model predicts the hand posture (joint angles) for power grasp of ellipsoidal objects by 'wrapping' the fingers around the object. Algorithms for two grip types are included: (1) a transverse volar grasp, which has the thumb abducted for added power; and (2) a diagonal volar grasp, which has the thumb adducted for an element of precision. Coefficients for estimating anthropometric parameters from hand length and breadth are incorporated in the model. Graphics procedures are included for visual display of the model. In an effort to validate the predictive capabilities of the model, joint angles were measured on six subjects grasping circular cylinders of various diameters and these measured joint angles were compared with angles predicted by the model. Sensitivity of the model to the various input parameters was also determined. On an average, the model predicted joint flexion angles that were 5.3% or 2.8 degrees +/- 12.2 degrees larger than the measured angles. Good agreement was found for the MCP and PIP joints, but results for DIP were more variable because of its dependence on the predictions for the proximal joints.

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Interventions to reduce ergonomic risk factors might be possible through utilization of below deck space in certain boats, through better technology, or through simple tool adjustments.