Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics



+44 (0)20 7594 0965t.nanayakkara Website CV




RCS1 M229Dyson BuildingSouth Kensington Campus






BibTex format

author = {Nanayakkara, V and Sornkaran, N and Wegiriya, H and Vitzilaios, N and Venetsanos, D and Rojas, N and Sahinkaya, MN and Nanayakkara, T},
publisher = {Springer Verlag},
title = {A method to estimate the oblique arch folding axis for thumb assistive devices},
url = {},

RIS format (EndNote, RefMan)

AB - People who use the thumb in repetitive manipulation tasks are likelyto develop thumb related impairments from excessive loading at the base jointsof the thumb. Biologically informed wearable robotic assistive mechanisms canprovide viable solutions to prevent occurring such injuries. This paper tests thehypothesis that an external assistive force at the metacarpophalangeal joint willbe most effective when applied perpendicular to the palm folding axis in termsof maximizing the contribution at the thumb-tip as well as minimizing the pro-jections on the vulnerable base joints of the thumb. Experiments conducted usinghuman subjects validated the predictions made by a simplified kinematic modelof the thumb that includes a foldable palm, showing that: 1) the palm folding an-gle varies from 71.5to 75.3(from the radial axis in the coronal plane) for thefour thumb-finger pairs and 2) the most effective assistive force direction (fromthe ulnar axis in the coronal plane) at the MCP joint is in the range 0<ψ<30for the four thumb-finger pairs. These findings provide design guidelines for handassistive mechanisms to maximize the efficacy of thumb external assistance.
AU - Nanayakkara,V
AU - Sornkaran,N
AU - Wegiriya,H
AU - Vitzilaios,N
AU - Venetsanos,D
AU - Rojas,N
AU - Sahinkaya,MN
AU - Nanayakkara,T
PB - Springer Verlag
SN - 0302-9743
TI - A method to estimate the oblique arch folding axis for thumb assistive devices
UR -
ER -