Simulation of wrist kinematics on the basis of a rigid body spring model
Wrist kinematics , Rigid body spring model
The purpose of this thesis was to create a computational wrist model that predicts carpal bone motion in order to investigate the complex kinematics of the human wrist. The tuning of this model was primarily based on in vitro, kinematic measurements of the carpal bones obtained from the same cadaver arm as the geometry for the model was generated. A rigid body spring model of the wrist was built using the kinematic simulation software RecurDynTM 6.1. Surface models of the eight carpal bones, the bases of the five metacarpal bones, and the distal parts of the ulna and radius, all obtained from computed tomography (CT) scans of a cadaver upper limb, were utilized as the geometry for this model. Elastic contact conditions between the rigid bodies modeled the influence of the cartilage layers, and ligamentous structures were constructed using nonlinear, tension-only spring elements. Motion of the wrist was simulated by applying forces to the tendons of the five main wrist muscles modeled. Three wrist motions were simulated: extension, ulnar deviation and radial deviation. The model was mainly tuned by comparing the simulated displacement and orientation of the carpal bones with previously obtained CT-scans of the same cadaver arm in deviated (45 deg ulnar and 15 deg radial), and extended (57 deg) wrist positions. Simulation results for the scaphoid, lunate, capitate, hamate and triquetrum are presented here and provide credible prediction of carpal bone movement. The impact of certain model parameters on simulation results has been investigated by performing sensitivity analyses, and their severity has been documented. The results of the first simulations indicate that this model may assist in future wrist kinematics investigations. However, further optimization and validation are required to define and guarantee the reliability of this model. It is suggested that this rigid body spring model may be part of an interacting framework between in vitro and in vivo investigations, as well as other computational models, in order to improve and complement each biomechanical investigation method.