Musculoskeletal Actuation System of Thumb Metacarpal of the Human Hand

Abstract

newline iv newlineAbstract newlineThe thumb is a remarkable digit that is essential for our capability to carry out a variety newlineof complex tasks, from power grip operations to fine precision movements. The thumb newlinemetacarpal has a very special role in the functioning of the human hand due to the newlinepresence of the Trapeziometacarpal joint at its base. The intricate anatomy, kinematics newlineand muscular actuation system that controls the movement and stability of the thumb newlinemetacarpal bone is responsible for its exceptional adaptability. It is essential to newlineunderstand the musculoskeletal actuation system and the control of the thumb newlinemetacarpal through the Central Nervous System for better prosthetics, hand surgery, newlinetendon-based rehabilitation mechanisms, and robotic hands. Understanding and newlineevaluating the extensions and force patterns generated in the Muscle-Tendon Units newlineresponsible for the motion of the thumb metacarpal is crucial. newlineThis thesis investigates the dynamic behaviour of musculoskeletal actuation newlinemechanism of the thumb metacarpal by examining the interaction between musclestendons, newlineand bones. This research seeks to enhance our understanding of the muscletendon newlineactuation mechanism of the thumb metacarpal, to elucidate the extensions and newlineforce patterns generated, and the role of the Central Nervous System, for commonly newlinerequired motions of flexion-extension, adduction-abduction, and circumduction. newlineInitially, the model has been developed for the muscle-tendon actuation system for newlineone of the phalanges of the hand for desired general hand motions, viz. flexionextension, newlineadduction-abduction, and circumduction considering a generalized newlineapproach. The phalange is represented by a cylindrical rigid body, actuated by four newlinemuscle-tendon units attached to it symmetrically. The muscle-tendon unit is based on newlinethe modified Hill s muscle model. Word Bond Graph Objects (WBGOs) have been newlineused to model each of the component subsystems, including the bone, muscle-tendons, newlinetranslational couplings, rotational couplings, etc. making the system flexi