A virtual five-link model of the thumb.

Most researchers have modelled the thumb as three rigid links with connections of two universal joints (carpometacarpal joint and metacarpo-phalangeal joint), and a hinge joint (interphalangeal joint). Although this produces the required number of degrees of freedom, the resulting motion is not anatomically accurate. In this work, the thumb is modelled as a five-link manipulator with the virtual links connected by hinge joints-one for each degree of freedom of the thumb. The axes of the hinges are not orthogonal to one another, in the long axis of the bones or to the anatomic planes. Four static positions of hand function were analysed-key pinch, screwdriver hold, tip pinch, and wide grasp. The virtual five-link model of the thumb predicted similar muscle recruitment patterns to published EMG data. The force at the distal surface of the trapezium is between 6 and 24 times the applied load depending on the posture.