The bone has provided the final piece to a project, launched in 2006 by European evolutionary anthropologist Svante Paabo, to use ancient DNA to trace the human odyssey.
In a study published in the journal Nature today, a team reports that the bone adds hugely to genetic knowledge of our cousins, the Neanderthals, who died out around 30,000 years ago.
The scientists compared the genome against those of two other human groups who shared the planet at the same time.
The comparison points to interbreeding -- "gene flow" in scientific parlance -- among the three groups, although the extent is rather limited.
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Between 1.5 and 2.1 percent of the genomes of humans today can be attributed to Neanderthals, it found. The exceptions are Africans, who do not have a Neanderthal contribution.
"We don't know if interbreeding took place once, where a group of Neanderthals got mixed in with modern humans and it didn't happen again, or whether groups lived side by side, and there was interbreeding over a prolonged period," said Montgomery Slatkin, a professor at the University of California at Berkeley.
The new analysis found that the genomes of ethnic Han Chinese and other mainland Asian populations, as well as of native Americans, contain about 0.2 percent Denisovan genes.
The Neanderthals, in turn, contributed at least 0.5 percent of their DNA to the Denisovans.
Both of these groups have an intriguing genetic past, the new study says.