Improving the understanding of hand kinematics during the performance of activities of daily living may help improve the control of hand prostheses and hand function assessment. This work identifies sparse synergies (each degree of freedom is present mainly in only one synergy), representative of the global population, with emphasis in unveiling the coordination of joints with small range of motion (palmar arching and fingers abduction). The study is the most complete study described in the literature till now, involving 22 healthy subjects and 26 representative day-to-day life activities. Principal component analysis was used to reduce the original 16 angles recorded with an instrumented glove. Five synergies explained 75% of total variance: closeness (coordinated flexion and abduction of metacarpophalangeal finger joints), digit arching (flexion of proximal interphalangeal joints), palmar-thumb coordination (coordination of palmar arching and thumb carpometacarpal flexion), thumb opposition , and thumb arch . The temporal evolution of these synergies is provided during reaching per intended grasp and during manipulation per specific task, which could be used as normative patterns for the global population. Reaching has been observed to require the modulation of closeness , digit arch and thumb opposition synergies, with different control patterns per grasp. All the synergies are very important during manipulation and need to be modulated for all the tasks. Finally, groups of tasks with similar kinematic requirements in terms of synergies have been identified, which could benefit the selection of tasks for rehabilitation and hand function assessments.

中文翻译：

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通过运动学还原执行日常活动时进行手运动学表征。

在日常生活活动中增进对手运动学的理解可能有助于改善手假体的控制和手功能评估。这项工作确定了稀疏的协同作用（每个自由度主要存在于一个协同作用中），是全球人口的代表，重点是揭示关节在小范围运动（手掌弓和手指外展）中的协调。该研究是迄今为止文献中描述的最完整的研究，涉及22位健康受试者和26例有代表性的日常生活活动。主成分分析用于减少用仪器手套记录的原始16个角度。五种协同作用可解释总方差的75％：亲密 （掌指关节的屈曲和外展协调）， 数字拱 （近端指间关节弯曲）， 掌拇指协调 （手掌弓和拇指腕掌弯曲的协调）， 拇指对立 和 拇指弓 。这些协同作用的时间演变是在达到预期的抓地力和进行特定任务的操纵时提供的，这些可用作全球人群的规范模式。已观察到达到要求调节亲密 ， 数字拱 和 拇指对立协同作用，每次掌握都有不同的控制模式。在操作过程中，所有协同作用都非常重要，需要针对所有任务进行调整。最后，已经确定了在协同方面具有相似运动学要求的任务组，这可能有助于选择康复和手功能评估的任务。