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The present study proposed a method for establishing a linkage representation of the human hand skeletal system. Hand skeletons of 15 male subjects were reconstructed from computed tomography (CT) scans in 10 different postures selected from a natural hand-closing motion. The wrist joint center was estimated as the intersection of the centerline of the metacarpal of the middle finger and the distal wrist crease. The remaining joint centers were kinematically estimated based on the relative motion between the distal bone segment and the proximal bone segment of a given joint. A hand linkage representation was then formed by connecting the derived joint centers. Regression models for predicting internal hand link lengths using hand length as the independent variable were established. In addition, regression models for predicting the joint center coordinates of the thumb carpometacarpal (CMC) and finger metacarpophalangeal (MCP) joints using hand length or hand breadth were established. Our models showed higher R2 values and lower maximum standard errors than the existing models. The findings of the present study can be applied to hand models for ergonomic design and biomechanical modeling.

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