{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T17:38:43Z","timestamp":1790789923129,"version":"4.1.0"},"reference-count":43,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T00:00:00Z","timestamp":1653955200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science Foundation (NSF)","award":["HCC-2053498"],"award-info":[{"award-number":["HCC-2053498"]}]},{"name":"National Science Foundation (NSF)","award":["CNS-2042203"],"award-info":[{"award-number":["CNS-2042203"]}]},{"name":"NSF Industry University Cooperative Research Center (IUCRC)","award":["HCC-2053498"],"award-info":[{"award-number":["HCC-2053498"]}]},{"name":"NSF Industry University Cooperative Research Center (IUCRC)","award":["CNS-2042203"],"award-info":[{"award-number":["CNS-2042203"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Hand prehension requires highly coordinated control of contact forces. The high-dimensional sensorimotor system of the human hand operates at ease, but poses several challenges when replicated in artificial hands. This paper investigates how the dynamical synergies, coordinated spatiotemporal patterns of contact forces, contribute to the hand grasp, and whether they could potentially capture the force primitives in a low-dimensional space. Ten right-handed subjects were recruited to grasp and hold mass-varied objects. The contact forces during this multidigit prehension were recorded using an instrumented grip glove. The dynamical synergies were derived using principal component analysis (PCA). The contact force patterns during the grasps were reconstructed using the first few synergies. The significance of the dynamical synergies, the influence of load forces and task configurations on the synergies were explained. This study also discussed the contribution of biomechanical constraints on the first few synergies and the current challenges and possible applications of the dynamical synergies in the design and control of exoskeletons. The integration of the dynamical synergies into exoskeletons will be realized in the near future.<\/jats:p>","DOI":"10.3390\/s22114177","type":"journal-article","created":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T05:25:42Z","timestamp":1653974742000},"page":"4177","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Dynamical Synergies of Multidigit Hand Prehension"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7756-3678","authenticated-orcid":false,"given":"Dingyi","family":"Pei","sequence":"first","affiliation":[{"name":"Department of Computer Science and Electrical Engineering, University of Maryland Baltimore County, Baltimore, MD 21250, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5513-1150","authenticated-orcid":false,"given":"Parthan","family":"Olikkal","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Electrical Engineering, University of Maryland Baltimore County, Baltimore, MD 21250, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0594-2796","authenticated-orcid":false,"given":"T\u00fclay","family":"Adali","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Electrical Engineering, University of Maryland Baltimore County, Baltimore, MD 21250, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1650-5524","authenticated-orcid":false,"given":"Ramana","family":"Vinjamuri","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Electrical Engineering, University of Maryland Baltimore County, Baltimore, MD 21250, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"209","DOI":"10.3389\/fnins.2016.00209","article-title":"Literature Review on Needs of Upper Limb Prosthesis Users","volume":"10","author":"Cordella","year":"2016","journal-title":"Front. 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