Grasping Occam’s Razor. In: Sternad D, editor. Progress in Motor Control. Boston: Springer US; 2009. pp. 499-522. [DOI: 10.1007/978-0-387-77064-2_27]

A review of grasping as the movements of digits in space

It is tempting to describe human reach-to-grasp movements in terms of two, more or less independent visuomotor channels, one relating hand transport to the object’s location and the other relating grip aperture to the object’s size. Our review of experimental work questions this framework for reasons that go beyond noting the dependence between the two channels. Both the lack of effect of size illusions on grip aperture and the finding that the variability in grip aperture does not depend on the object’s size indicate that size information is not used to control grip aperture. An alternative is to describe grip formation as emerging from controlling the movements of the digits in space. Each digit’s trajectory when grasping an object is remarkably similar to its trajectory when moving to tap the same position on its own. The similarity is also evident in the fast responses when the object is displaced. This review develops a new description of the speed-accuracy trade-off for multiple effectors that is applied to grasping. The most direct support for the digit-in-space framework is that prism-induced adaptation of each digit’s tapping movements transfers to that digit’s movements when grasping, leading to changes in grip aperture for adaptation in opposite directions for the two digits. We conclude that although grip aperture and hand transport are convenient variables to describe grasping, treating grasping as movements of the digits in space is a more suitable basis for understanding the neural control of grasping.

Coordination of pincer grasp and transport after mechanical perturbation of the index finger

Our understanding of reach-to-grasp movements has evolved from the original formulation of the movement as two semi-independent visuomotor channels to one of interdependence. Despite a number of important contributions involving perturbations of the reach or the grasp, some of the features of the movement, such as the presence or absence of coordination between the digits during the pincer grasp and the extent of spatio-temporal interdependence between the transport and the grasp, are still unclear. In this study, we physically perturbed the index finger into extension during grasping closure on a minority of trials to test whether modifying the movement of one digit would affect the movement of the opposite digit, suggestive of an overarching coordinative process. Furthermore, we tested whether disruption of the grasp results in the modification of kinematic parameters of the transport. Our results showed that a continuous perturbation to the index finger affected wrist velocity but not lateral displacement. Moreover, we found that the typical flexion of the thumb observed in nonperturbed trials was delayed until the index finger counteracted the extension force. These results suggest that physically perturbing the grasp modifies the kinematics of the transport component, indicating a two-way interdependence of the reach and the grasp. Furthermore, a perturbation to one digit affects the kinematics of the other, supporting a model of grasping in which the digits are coordinated by a higher-level process rather than being independently controlled.NEW & NOTEWORTHY A current debate concerning the neural control of prehension centers on the question of whether the digits in a pincer grasp are controlled individually or together. Employing a novel approach that perturbs mechanically the grasp component during a natural reach-to-grasp movement, this work is the first to test a key hypothesis: whether perturbing one of the digits during the movement affects the other. Our results support the idea that the digits are not independently controlled.

Grasping an object comfortably: orientation information is held in memory

It has been shown that memorized information can influence real-time visuomotor control. For instance, a previously seen object (prime) influences grasping movements toward a target object. In this study, we examined how general the priming effect is: does it depend on the orientation of the target object and the similarity between the prime and the target? To do so, we examined whether priming effects occured for different orientations of the prime and the target objects and for primes that were either identical to the target object or only half of the target object. We found that for orientations of the target object that did not require an awkward grasp, the orientation of the prime could influence the initiation time and the final grip orientation. The priming effects on initiation time were only found when the whole target object was presented as prime, but not when only half of the target object was presented. The results suggest that a memory effect on real-time control is constrained by end-state comfort and by the relevance of the prime for the grasping movement, which might mean that the interactions between the ventral and dorsal pathways are task specific.

The Two Visual Systems Hypothesis: New Challenges and Insights from Visual form Agnosic Patient DF

Patient DF, who developed visual form agnosia following carbon monoxide poisoning, is still able to use vision to adjust the configuration of her grasping hand to the geometry of a goal object. This striking dissociation between perception and action in DF provided a key piece of evidence for the formulation of Goodale and Milner's Two Visual Systems Hypothesis (TVSH). According to the TVSH, the ventral stream plays a critical role in constructing our visual percepts, whereas the dorsal stream mediates the visual control of action, such as visually guided grasping. In this review, we discuss recent studies of DF that provide new insights into the functional organization of the dorsal and ventral streams. We confirm recent evidence that DF has dorsal as well as ventral brain damage - and that her dorsal-stream lesions and surrounding atrophy have increased in size since her first published brain scan. We argue that the damage to DF's dorsal stream explains her deficits in directing actions at targets in the periphery. We then focus on DF's ability to accurately adjust her in-flight hand aperture to changes in the width of goal objects (grip scaling) whose dimensions she cannot explicitly report. An examination of several studies of DF's grip scaling under natural conditions reveals a modest though significant deficit. Importantly, however, she continues to show a robust dissociation between form vision for perception and form vision-for-action. We also review recent studies that explore the role of online visual feedback and terminal haptic feedback in the programming and control of her grasping. These studies make it clear that DF is no more reliant on visual or haptic feedback than are neurologically intact individuals. In short, we argue that her ability to grasp objects depends on visual feedforward processing carried out by visuomotor networks in her dorsal stream that function in the much the same way as they do in neurologically intact individuals.

The influence of visual target information on the online control of movements

The continuously changing properties of our environment require constant monitoring of our actions and updating of our motor commands based on the task goals. Such updating relies upon our predictions about the sensory consequences of our movement commands, as well as sensory feedback received during movement execution. Here we focus on how visual information about target location is used to update and guide ongoing actions so that the task goal is successfully achieved. We review several studies that have manipulated vision of the target in a variety of ways, ranging from complete removal of visual target information to changes in visual target properties after movement onset to examine how such changes are accounted for during motor execution. We also examined the specific role of a critical neural structure, the parietal cortex, and argue that a fundamental challenge for the future is to understand how visual information about target location is integrated with other streams of information, during movement execution, to estimate the state of the body and the environment in order to ensure optimal motor performance.

Movements of individual digits in bimanual prehension are coupled into a grasping component

The classic understanding of prehension is that of coordinated reaching and grasping. An alternative view is that the grasping in prehension emerges from independently controlled individual digit movements (the double-pointing model). The current study tested this latter model in bimanual prehension: participants had to grasp an object between their two index fingers. Right after the start of the movement, the future end position of one of the digits was perturbed. The perturbations resulted in expected changes in the kinematics of the perturbed digit but also in adjusted kinematics in the unperturbed digit. The latter effects showed up when the end position of the right index finger was perturbed, but not when the end position of the left index finger was perturbed. Because the absence of a coupling between the digits is the core assumption of the double-pointing model, finding any perturbation effects challenges this account of prehension; the double-pointing model predicts that the unperturbed digit would be unaffected by the perturbation. The authors conclude that the movement of the digits in prehension is coupled into a grasping component.

Similarities between digits' movements in grasping, touching and pushing

In order to find out whether the movements of single digits are controlled in a special way when grasping, we compared the movements of the digits when grasping an object with their movements in comparable single-digit tasks: pushing or lightly tapping the same object at the same place. The movements of the digits in grasping were very similar to the movements in the single-digit tasks. To determine to what extent the hand transport and grip formation in grasping emerges from a synchronised motion of individual digits, we combined movements of finger and thumb in the single-digit tasks to obtain hypothetical transport and grip components. We found a larger peak grip aperture earlier in the movement for the single-digit tasks. The timing of peak grip aperture depended in the same way on its size for all tasks. Furthermore, the deviations from a straight line of the transport component differed considerably between subjects, but were remarkably similar across tasks. These results support the idea that grasping should be regarded as consisting of moving the digits, rather than transporting the hand and shaping the grip.