The purpose of this study was to develop a 3D visulaization tool to investigate the contact mechanics at the object-digit interfaces and the force coordination among multiple digits during manipulation tasks. Five miniature 6-component force/torque transducers were used to record force and torque data at the tips of individual digits during 5-digit grasping, rotating, and lifting tasks. A digitizing device was used to obtain 3D coordinates of anatomical landmarks of the hand for the construction of a hand geometric model. Three dimensional force vectors and the centers of pressure were obtained using the force and torque data collected during the manipulation tasks and were displayed at the tips of the 5 digits. The visualization methods developed in this study could potentially provide an effective tool for the study of object-digit interaction mechanics and inter-digit force coordination during various manipulation tasks.

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