- Article
Background/Objectives: Musculoskeletal modeling is a critical tool for investigating hand biomechanics and designing assistive technologies. However, the formulation of the mechanical interaction between the hand and objects remains a challenge. This study investigates how constraint-based versus explicit contact-based formulations influence the prediction of maximal lateral pinch force and contact retention in an open-source hand model. Methods: Fifty optimal muscle activation patterns were generated using a constraint-based forward-dynamics optimization framework. These solutions were then re-evaluated in a contact-based model under four friction conditions (μ = 0.29, 0.50, 0.75, and 1.0), with detailed force, kinematic, and computational analyses focused on μ = 0.29 and μ = 1.0. We analyzed the occurrence of contact loss, force stabilization behavior, and the associated computational costs. Results: Constraint-based formulations identified consistent maximal lateral pinch force ranges but overestimated the system’s ability to maintain contact by neglecting friction and sliding. In contact-based simulations with μ = 0.29, 92% of solutions lost contact, often at early stages. While increasing friction improved short-term contact retention, 66% of solutions still failed to maintain contact by the end of the 0.50-s simulations at μ = 1.0. For a simulated duration of 0.20 s, median execution times for contact-based forward dynamics were 62–75 times those for constrained forward dynamics under the numerical settings used. Numerical sensitivity tests showed unchanged contact-loss classification and negligible changes in force histories after tightening the integration tolerance and reducing the maximum step size. Conclusions: There is a clear trade-off between physical realism and computational efficiency. While constraint-based models allow for efficient large-scale optimization, they may yield mechanically unfeasible results. For future assistive device design, hybrid strategies may provide a useful compromise: constraint-based models can be used for efficient optimization followed by targeted validation using contact-based simulations to assess the mechanical feasibility and contact retention of candidate solutions.
12 November 2026





