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The passive stiffness of the wrist and forearm

机译：手腕和前臂的被动僵硬

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Because wrist rotation dynamics are dominated by stiffness (Charles SK, Hogan N. J Biomech 44: 614- 621, 2011), understanding how humans plan and execute coordinated wrist rotations requires knowledge of the stiffness characteristics of the wrist joint. In the past, the passive stiffness of the wrist joint has been measured in 1 degree of freedom (DOF). Although these 1-DOF measurements inform us of the dynamics the neuromuscular system must overcome to rotate the wrist in pure flexion-extension (FE) or pure radial-ulnar deviation (RUD), the wrist rarely rotates in pure FE or RUD. Instead, understanding natural wrist rotations requires knowledge of wrist stiffness in combinations of FE and RUD. The purpose of this report is to present measurements of passive wrist stiffness throughout the space spanned by FE and RUD. Using a rehabilitation robot designed for the wrist and forearm, we measured the passive stiffness of the wrist joint in 10 subjects in FE, RUD, and combinations. For comparison, we measured the passive stiffness of the forearm (in pronation-supination), as well. Our measurements in pure FE and RUD agreed well with previous 1-DOF measurements. We have linearized the 2-DOF stiffness measurements and present them in the form of stiffness ellipses and as stiffness matrices useful for modeling wrist rotation dynamics. We found that passive wrist stiffness was anisotropic, with greater stiffness in RUD than in FE. We also found that passive wrist stiffness did not align with the anatomical axes of the wrist; the major and minor axes of the stiffness ellipse were rotated with respect to the FE and RUD axes by ~20°. The direction of least stiffness was between ulnar flexion and radial extension, a direction used in many natural movements (known as the "dart-thrower's motion"), suggesting that the nervous system may take advantage of the direction of least stiffness for common wrist rotations. ? 2012 the American Physiological Society.
机译：因为手腕转动动力学是由刚性为主（查尔斯SK，霍根N.J。Biomech 44：614- 621，2011），了解人类如何计划和执行协调的手腕旋转需要的腕关节的刚度特性的知识。在过去，在1度自由度（DOF）中测量了腕关节的被动刚度。虽然这一项1-DOF测量信息通知我们动态，但是神经肌肉系统必须克服纯屈曲 - 延伸（Fe）或纯径向 - 尺尺偏差（RUD），但手腕很少在纯Fe或Rud中旋转。相反，了解自然手腕旋转需要在Fe和Rud的组合中了解腕刚度。本报告的目的是在Fe和Rud跨越的空间中展示被动手腕僵硬的测量。使用为手腕和前臂设计的康复机器人，我们在Fe，Rud和组合中测量了10个受试者的腕关节的被动刚度。为了比较，我们也测量了前臂的被动刚度（在旋转中）。我们在纯FE和RUD中的测量很好地同意了先前的1-DOF测量。我们已经线性化了2-DOF刚度测量并以刚度椭圆形式的形式呈现它们，并且作为用于建模手腕旋转动力学的刚度矩阵。我们发现被动手腕僵硬是各向异性的，RUD在RUD中具有更大的僵硬。我们还发现被动手腕刚度与手腕的解剖轴不保持一致;刚度椭圆的主要和次轴相对于Fe和Rud轴旋转〜20°。最小刚度的方向是尺屈曲和径向延伸之间，在许多自然运动中使用的方向（称为“飞镖推测运动”），表明神经系统可以利用常见手腕旋转的最小刚度方向。还是2012年美国生理社会。

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