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Updated: Jan 21, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Simplifying models and estimating grasp performance for comparing dynamic hand orthosis concepts.

Ronald A Bos1, Dick H Plettenburg1, Just L Herder2

  • 1Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands.

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Summary

This study introduces numerical models to estimate the grasp performance of dynamic hand orthoses, enabling early design comparisons without physical prototypes. Static models offer faster, robust grasp analysis for concept selection.

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Area of Science:

  • Biomedical Engineering
  • Rehabilitation Engineering
  • Robotics

Background:

  • Designing dynamic hand orthoses for daily living requires assessing grasp performance early in the design process.
  • Current methods involve physical prototyping and force measurements, limiting iterative design and concept comparison.
  • A need exists for efficient numerical methods to predict grasp capabilities during early-stage orthosis design.

Purpose of the Study:

  • To present and compare basic static and dynamic numerical models for estimating grasp performance in hand orthoses.
  • To validate these models using an experimental setup for a hydraulically operated hand orthosis grasping a circular object.
  • To determine the suitability of these models for qualitative comparisons in early design stages.

Main Methods:

  • Development of basic static and dynamic models to numerically estimate grasp performance.
  • Application of models to a conceptual hydraulically operated hand orthosis grasping a circular object.
  • Validation of numerical models against an experimental setup without contact interface sensors.

Main Results:

  • Static and dynamic model predictions for grasp performance were nearly identical.
  • The static model demonstrated approximately 10 times faster computation and greater robustness with high contact stiffness.
  • While quantitative predictions were inaccurate due to contact stiffness variations, qualitative comparisons were accurate.

Conclusions:

  • Numerical static and dynamic models provide a valid method for qualitative comparison and selection of hand orthosis concepts in early design stages.
  • The static model is recommended for its speed and robustness, facilitating efficient design exploration.
  • Further refinement of contact stiffness parameters is needed for improved quantitative accuracy in grasp performance predictions.