Dynamic Hand Simulation with Strands

We have developed a framework for simulating muscles and tendons using a dynamic modeling primitive, a “strand,” based on cubic spline curves with inertia [Sueda et al. 2008]. With this framework, we do not require moment-arm data; the tendons are simulated dynamically as stiff hyper-elastic strands simultaneously with the bones. We are able to simulate the dynamics of the intricate mechanisms of the finger, which was not possible with previous approaches. The lumbrical, for example, with its looped connections to the flexor tendon and the extensor mechanism, can be simulated effectively using our framework.