A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices

Visakha K. Nanayakkara; Nantachai Sornkaran; Hasitha Wegiriya; Nikolaos Vitzilaios; Demetrios Venetsanos; Nicolas Rojas; M. Necip Sahinkaya; Thrishantha Nanayakkara

doi:10.1007/978-3-030-23807-0_3

A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices

Visakha K. Nanayakkara, Nantachai Sornkaran, Hasitha Wegiriya, Nikolaos Vitzilaios, Demetrios Venetsanos, Nicolas Rojas, M. Necip Sahinkaya, Thrishantha Nanayakkara

School of Mechanical, Aerospace and Automotive Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding

2 Downloads (Pure)

Abstract

People who use the thumb in repetitive manipulation tasks are likely to develop thumb related impairments from excessive loading at the base joints of the thumb. Biologically informed wearable robotic assistive mechanisms can provide viable solutions to prevent occurring such injuries. This paper tests the hypothesis that an external assistive force at the metacarpophalangeal joint will be most effective when applied perpendicular to the palm folding axis in terms of maximizing the contribution at the thumb-tip as well as minimizing the projections on the vulnerable base joints of the thumb. Experiments conducted using human subjects validated the predictions made by a simplified kinematic model of the thumb that includes a foldable palm, showing that: (1) the palm folding angle varies from 71. 5 ^∘ to 75. 3 ^∘ (from the radial axis in the coronal plane) for the four thumb-finger pairs and (2) the most effective assistive force direction (from the ulnar axis in the coronal plane) at the MCP joint is in the range 0 ^∘< ψ< 30 ^∘ for the four thumb-finger pairs. These findings provide design guidelines for hand assistive mechanisms to maximize the efficacy of thumb external assistance.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
Editors	Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Publisher	Springer-Verlag Italia
Pages	28-40
Number of pages	13
ISBN (Print)	9783030238063
DOIs	https://doi.org/10.1007/978-3-030-23807-0_3
Publication status	Published - 3 Jul 2019
Event	20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019 - London, United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11649 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019
Country	United Kingdom
City	London
Period	3/07/19 → 5/07/19

Keywords

Foldable palm
Metacarpophalangeal joint
Thumb assistance
Thumb kinematics

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-030-23807-0_3

Nanayakkara_et_al_a_method_estimateAccepted author manuscript, 2.29 MB

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Cite this

Nanayakkara, V. K., Sornkaran, N., Wegiriya, H., Vitzilaios, N., Venetsanos, D., Rojas, N., ... Nanayakkara, T. (2019). A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices. In K. Althoefer, J. Konstantinova, & K. Zhang (Eds.), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings (pp. 28-40). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI). Springer-Verlag Italia. https://doi.org/10.1007/978-3-030-23807-0_3

A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices. / Nanayakkara, Visakha K.; Sornkaran, Nantachai; Wegiriya, Hasitha; Vitzilaios, Nikolaos; Venetsanos, Demetrios; Rojas, Nicolas; Sahinkaya, M. Necip; Nanayakkara, Thrishantha.

Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Springer-Verlag Italia, 2019. p. 28-40 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding

Nanayakkara, VK, Sornkaran, N, Wegiriya, H, Vitzilaios, N, Venetsanos, D, Rojas, N, Sahinkaya, MN & Nanayakkara, T 2019, A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices. in K Althoefer, J Konstantinova & K Zhang (eds), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11649 LNAI, Springer-Verlag Italia, pp. 28-40, 20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019, London, United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-23807-0_3

Nanayakkara VK, Sornkaran N, Wegiriya H, Vitzilaios N, Venetsanos D, Rojas N et al. A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices. In Althoefer K, Konstantinova J, Zhang K, editors, Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Springer-Verlag Italia. 2019. p. 28-40. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-23807-0_3

Nanayakkara, Visakha K. ; Sornkaran, Nantachai ; Wegiriya, Hasitha ; Vitzilaios, Nikolaos ; Venetsanos, Demetrios ; Rojas, Nicolas ; Sahinkaya, M. Necip ; Nanayakkara, Thrishantha. / A Method to Estimate the Oblique Arch Folding Axis for Thumb Assistive Devices. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. editor / Kaspar Althoefer ; Jelizaveta Konstantinova ; Ketao Zhang. Springer-Verlag Italia, 2019. pp. 28-40 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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