Nondigital afferent input in reactive control of fingertip forces during precision grip

The effect of type 2 diabetes and diabetic peripheral neuropathy on predictive grip force control

This study investigated the impact of type 2 diabetes and diabetic peripheral neuropathy on grip force control during object manipulation. The study included three age-matched groups: type 2 diabetes alone (n = 11), type 2 diabetes with neuropathy (n = 13), and healthy controls (n = 12). Grip force control variables derived from lifting and holding an experimental cup were the ratio between grip force and load forces during lifting (GFR), latency 1 and latency 2, which represented the time between the object's grip and its lift-off from the table, and the period between object's lift-off and the grip force peak, respectively; time lag, which denoted the time difference between the grip and load force peaks during the lifting phase, and finally static force, which was the grip force average during the holding phase. Grip force control variables were compared between groups using one-way ANOVA and Kruskal-Wallis test. Post-hoc analysis was used to compare differences between groups. GFR and latency 1 showed significant differences between groups; the type 2 diabetes with neuropathy group showed larger GFR than the type 2 diabetes alone and healthy control groups. The latency 1was longer for the group with neuropathy in comparison with the health control group. There were no significant differences between groups for latency 2, time lag, and static force. Our results showed impaired GFR and latency 1 in participants with type 2 diabetes with neuropathy while the time lag was preserved. People with type 2 diabetes alone might not have any deficits in grip force control. Higher grip forces might expose people with type 2 diabetes and diabetic peripheral neuropathy to the risk of fatigue and injuring their hands. Future studies should investigate strategies to help people with type 2 diabetes with neuropathy adjust grip forces during object manipulation.

Effect of pinch types on pinch force sense in healthy adults

Pinch force sense plays an important role in the performance of daily finger movements, including tip, key, palmar pinch. The present study investigated the roles of pinch type in the sensation of pinch force among healthy participants in the ipsilateral force reproduction trial. This study instructed forty healthy adult subjects (20 women and 20 men) in producing reference forces at different levels [10, 30, 50% maximal voluntary isometric contraction (MVIC)] by adopting 3 pinch types (tip, key, and palmar pinches) and in reproducing the above force levels with the identical hand. Our study revealed that subjects are significantly more sensitive detecting alterations of pinching forces with tip pinch but not key or palmar pinch under high forces (30 and 50% MVIC) but not at lower force levels (10% MVIC).

Neurophysiology of slip sensation and grip reaction: insights for hand prosthesis control of slippage

Sensory feedback is pivotal for a proficient dexterity of the hand. By modulating the grip force in function of the quick and not completely predictable change of the load force, grabbed objects are prevented to slip from the hand. Slippage control is an enabling achievement to all manipulation abilities. However, in hand prosthetics, the performance of even the most innovative research solutions proposed so far to control slippage remain distant from the human physiology. Indeed, slippage control involves parallel and compensatory activation of multiple mechanoceptors, spinal and supraspinal reflexes, and higher-order voluntary behavioral adjustments. In this work, we reviewed the literature on physiological correlates of slippage to propose a three-phases model for the slip sensation and reaction. Furthermore, we discuss the main strategies employed so far in the research studies that tried to restore slippage control in amputees. In the light of the proposed three-phase slippage model and from the weaknesses of already implemented solutions, we proposed several physiology-inspired solutions for slippage control to be implemented in the future hand prostheses. Understanding the physiological basis of slip detection and perception and implementing them in novel hand feedback system would make prosthesis manipulation more efficient and would boost its perceived naturalness, fostering the sense of agency for the hand movements.

Grasping Embodiment: Haptic Feedback for Artificial Limbs

Upper-limb prostheses are subject to high rates of abandonment. Prosthesis abandonment is related to a reduced sense of embodiment, the sense of self-location, agency, and ownership that humans feel in relation to their bodies and body parts. If a prosthesis does not evoke a sense of embodiment, users are less likely to view them as useful and integrated with their bodies. Currently, visual feedback is the only option for most prosthesis users to account for their augmented activities. However, for activities of daily living, such as grasping actions, haptic feedback is critically important and may improve sense of embodiment. Therefore, we are investigating how converting natural haptic feedback from the prosthetic fingertips into vibrotactile feedback administered to another location on the body may allow participants to experience haptic feedback and if and how this experience affects embodiment. While we found no differences between our experimental manipulations of feedback type, we found evidence that embodiment was not negatively impacted when switching from natural feedback to proximal vibrotactile feedback. Proximal vibrotactile feedback should be further studied and considered when designing prostheses.

Perception of Tactile Directionality via Artificial Fingerpad Deformation and Convolutional Neural Networks

Humans can perceive tactile directionality with angular perception thresholds of 14-40° via fingerpad skin displacement. Using deformable, artificial tactile sensors, the ability to perceive tactile directionality was developed for a robotic system to aid in object manipulation tasks. Two convolutional neural networks (CNNs) were trained on tactile images created from fingerpad deformation measurements during perturbations to a handheld object. A primary CNN regression model provided a point estimate of tactile directionality over a range of grip forces, perturbation angles, and perturbation speeds. A secondary CNN model provided a variance estimate that was used to determine uncertainty about the point estimate. A 5-fold cross-validation was performed to evaluate model performance. The primary CNN produced tactile directionality point estimates with an error rate of 4.3% for a 20° angular resolution and was benchmarked against an open-source force estimation network. The model was implemented in real-time for interactions with an external agent and the environment with different object shapes and widths. The perception of tactile directionality could be used to enhance the situational awareness of human operators of telerobotic systems and to develop decision-making algorithms for context-appropriate responses by semi-autonomous robots.

Sensory information from a slipping object elicits a rapid and automatic shoulder response

Humans have the remarkable ability to hold, grasp, and manipulate objects. Previous work has reported rapid and coordinated reactions in hand and shoulder muscles in response to external perturbations to the arm during object manipulation; however, little is known about how somatosensory feedback of an object slipping in the hand influences responses of the arm. We built a handheld device to stimulate the sensation of slipping at all five fingertips. The device was integrated into an exoskeleton robot that supported it against gravity. The setup allowed us to decouple somatosensory stimulation in the fingers from forces applied to the arm, two variables that are highly interdependent in real-world scenarios. Fourteen participants performed three experiments in which we measured their arm feedback responses during slip stimulation. Slip stimulations were applied horizontally in one of two directions, and participants were instructed to either follow the slip direction or move the arm in the opposite direction. Participants showed shoulder muscle responses within ∼67 ms of slip onset when following the direction of slip but significantly slower responses when instructed to move in the opposite direction. Shoulder responses were modulated by the speed but not the distance of the slip. Finally, when slip stimulation was combined with mechanical perturbations to the arm, we found that sensory information from the fingertips significantly modulated the shoulder feedback responses. Overall, the results demonstrate the existence of a rapid feedback system that stabilizes handheld objects.NEW & NOTEWORTHY We tested whether the sensation of an object slipping from the fingers modulates shoulder feedback responses. We found rapid shoulder feedback responses when participants were instructed to follow the slip direction with the arm. Shoulder responses following mechanical joint perturbations were also potentiated when combined with slipping. These results demonstrate the existence of fast and automatic feedback responses in the arm in reaction to sensory input to the fingertips that maintain grip on handheld objects.

The benefits of sensation on the experience of a hand: A qualitative case series

BACKGROUND

The experience of upper limb loss involves loss of both functional capabilities and the sensory connection of a hand. Research studies to restore sensation to persons with upper limb loss with neural interfaces typically measure outcomes through standardized functional tests or quantitative surveys. However, these types of metrics cannot fully capture the personal experience of living with limb loss or the impact of sensory restoration on this experience. Qualitative studies can demonstrate the viewpoints and priorities of specific persons or groups and reveal the underlying conceptual structure of various aspects of their experiences.

METHODS AND FINDINGS

Following a home use trial of a neural-connected, sensory-enabled prosthesis, two persons with upper limb loss were interviewed about their experiences using the sensory restoration system in unsupervised, unconstrained settings. We used grounded theory methodology to examine their experiences, perspectives, and opinions about the sensory restoration system. We then developed a model to describe the impact of sensation on the experience of a hand for persons with upper limb loss.

CONCLUSIONS

The experience of sensation was complex and included concepts such as the naturalness of the experience, sensation modality, and the usefulness of the sensory information. Sensation was critical for outcome acceptance, and contributed to prosthesis embodiment, confidence, reduced focus and attention for using the prosthesis, and social interactions. Embodiment, confidence, and social interactions were also key determinants of outcome acceptance. This model provides a unified framework to study and understand the impact of sensation on the experience of limb loss and to understand outcome acceptance following upper limb loss more broadly.

Multisensory components of rapid motor responses to fingertip loading

Tactile and muscle afferents provide critical sensory information for grasp control, yet the contribution of each sensory system during online control has not been clearly identified. More precisely, it is unknown how these two sensory systems participate in online control of digit forces following perturbations to held objects. To address this issue, we investigated motor responses in the context of fingertip loading, which parallels the impact of perturbations to held objects on finger motion and fingerpad deformation, and characterized surface recordings of intrinsic (first dorsal interosseous, FDI) and extrinsic (flexor digitorum superficialis, FDS) hand muscles based on statistical modeling. We designed a series of experiments probing the effects of peripheral stimulation with or without anesthesia of the finger, and of task instructions. Loading of the fingertip generated a motor response in FDI at ~60 ms following the perturbation onset, which was only driven by muscle stretch, as the ring-block anesthesia reduced the gain of the response occurring later than 90 ms, leaving responses occurring before this time unaffected. In contrast, the motor response in FDS was independent of the lateral motion of the finger. This response started at ~90 ms on average and was immediately adjusted to task demands. Altogether these results highlight how a rapid integration of partially distinct sensorimotor circuits supports rapid motor responses to fingertip loading.NEW & NOTEWORTHY To grasp and manipulate objects, the brain uses touch signals related to skin deformation as well as sensory information about motion of the fingers encoded in muscle spindles. Here we investigated how these two sensory systems contribute to feedback responses to perturbation applied to the fingertip. We found distinct response components, suggesting that each sensory system engages separate sensorimotor circuits with distinct functions and latencies.

Perturbed oral motor control due to anesthesia during intraoral manipulation of food

Sensory information from periodontal mechanoreceptors (PMRs) surrounding the roots of natural teeth is important for optimizing the positioning of food and adjustment of force vectors during precision biting. The present experiment was designed to test the hypothesis; that reduction of afferent inputs from the PMRs, by anesthesia, perturbs the oral fine motor control and related jaw movements during intraoral manipulation of morsels of food. Thirty healthy volunteers with a natural dentition were equally divided into experimental and control groups. The participants in both groups were asked to manipulate and split a spherical candy into two equal halves with the front teeth. An intervention was made by anesthetizing the upper and lower incisors of the experimental group while the control group performed the task without intervention. Performance of the split was evaluated and the jaw movement recorded. The experimental group demonstrated a significant decrease in measures of performance following local anesthesia. However, there was no significant changes in the duration or position of the jaw during movements in the experimental and control group. In conclusion, transient deprivation of sensory information from PMRs perturbs oral fine motor control during intraoral manipulation of food, however, no significant alterations in duration or positions of the jaw during movements can be observed.

Carpal tunnel syndrome impairs index finger responses to unpredictable perturbations

The fine-tuning of digit forces to object properties can be disrupted by carpal tunnel syndrome (CTS). CTS' effects on hand function have mainly been investigated using predictable manipulation tasks; however, unpredictable perturbations are commonly encountered during manual tasks, presenting situations which may be more challenging to CTS patients given their hand impairments. The purpose of this study was to investigate muscle and force responses of the index finger to unpredictable perturbations in patients with CTS. Nine CTS patients and nine asymptomatic controls were instructed to stop the movement of a sliding plate by increasing index finger force following an unexpected perturbation. The electrical activity of the first dorsal interosseous muscle and forces exerted by the index finger were recorded. CTS patients demonstrated 20.9% greater muscle response latency and 12.0% greater force response latency compared to controls (p<0.05). The duration of plate sliding was significantly different between groups (p<0.05); the CTS group's duration was 142.2±5.8ms compared to the control group's duration of 133.1±8.4ms. Although CTS patients had increased muscle and force response durations comparatively, these differences were not statistically significant. Findings from this study suggest CTS-induced sensorimotor deficits interfere with accurate detection, processing and response to unpredictable perturbations. These deficits could be accounted for at multiple levels of the peripheral and central nervous systems. Delayed and decreased responses may indicate inefficient object manipulation by CTS patients and may help to explain why CTS patients tend to drop objects.

The biology of skin wetness perception and its implications in manual function and for reproducing complex somatosensory signals in neuroprosthetics

Our perception of skin wetness is generated readily, yet humans have no known receptor (hygroreceptor) to signal this directly. It is easy to imagine the sensation of water running over our hands or the feel of rain on our skin. The synthetic sensation of wetness is thought to be produced from a combination of specific skin thermal and tactile inputs, registered through thermoreceptors and mechanoreceptors, respectively. The present review explores how thermal and tactile afference from the periphery can generate the percept of wetness centrally. We propose that the main signals include information about skin cooling, signaled primarily by thinly myelinated thermoreceptors, and rapid changes in touch, through fast-conducting, myelinated mechanoreceptors. Potential central sites for integration of these signals, and thus the perception of skin wetness, include the primary and secondary somatosensory cortices and the insula cortex. The interactions underlying these processes can also be modeled to aid in understanding and engineering the mechanisms. Furthermore, we discuss the role that sensing wetness could play in precision grip and the dexterous manipulation of objects. We expand on these lines of inquiry to the application of the knowledge in designing and creating skin sensory feedback in prosthetics. The addition of real-time, complex sensory signals would mark a significant advance in the use and incorporation of prosthetic body parts for amputees in everyday life.NEW & NOTEWORTHY Little is known about the underlying mechanisms that generate the perception of skin wetness. Humans have no specific hygroreceptor, and thus temperature and touch information combine to produce wetness sensations. The present review covers the potential mechanisms leading to the perception of wetness, both peripherally and centrally, along with their implications for manual function. These insights are relevant to inform the design of neuroengineering interfaces, such as sensory prostheses for amputees.

Effects of Sensory Deficit on Phalanx Force Deviation During Power Grip Post Stroke

The effect of sensory deficits on power grip force from individual phalanges was examined. The authors found that stroke survivors with sensory deficits (determined by the Semmes-Weinstein monofilament test) gripped with phalanx force directed more tangential to the object surface, than those without, although both groups had similar motor deficits (Chedoke-McMaster and Fugl-Meyer), grip strength, and skin friction. Altered grip force direction elevates risk of finger slippage against the object thus grip loss/object dropping, hindering activities of daily living. Altered grip force direction was associated with altered muscle activation patterns. In summary, the motor impairment level alone may not describe hand motor control in detail. Information about sensory deficits helps elucidate patients' hand motor control with functional relevance.

Control of Precision Grip Force in Lifting and Holding of Low-Mass Objects

Few studies have investigated the control of grip force when manipulating an object with an extremely small mass using a precision grip, although some related information has been provided by studies conducted in an unusual microgravity environment. Grip-load force coordination was examined while healthy adults (N = 17) held a moveable instrumented apparatus with its mass changed between 6 g and 200 g in 14 steps, with its grip surface set as either sandpaper or rayon. Additional measurements of grip-force-dependent finger-surface contact area and finger skin indentation, as well as a test of weight discrimination, were also performed. For each surface condition, the static grip force was modulated in parallel with load force while holding the object of a mass above 30 g. For objects with mass smaller than 30 g, on the other hand, the parallel relationship was changed, resulting in a progressive increase in grip-to-load force (GF/LF) ratio. The rayon had a higher GF/LF force ratio across all mass levels. The proportion of safety margin in the static grip force and normalized moment-to-moment variability of the static grip force were also elevated towards the lower end of the object mass for both surfaces. These findings indicate that the strategy of grip force control for holding objects with an extremely small mass differs from that with a mass above 30 g. The data for the contact area, skin indentation, and weight discrimination suggest that a decreased level of cutaneous feedback signals from the finger pads could have played some role in a cost function in efficient grip force control with low-mass objects. The elevated grip force variability associated with signal-dependent and internal noises, and anticipated inertial force on the held object due to acceleration of the arm and hand, could also have contributed to the cost function.

Two sensory channels mediate perception of fingertip force

In two experiments we examined the ability of humans to exert forces accurately with the fingertips, and to perceive those forces. In experiment 1 participants used visual feedback to apply a range of fingertip forces with the distal pad of the thumb. Participants made magnitude discriminations regarding these forces, and their just noticeable differences were calculated at a series of standards by means of a two-interval, forced-choice tracking paradigm. As the standard increased, participants demonstrated a relative improvement in force discrimination; and the presence of a possible inflection point, at approximately 400 g, suggested that two sensory channels may contribute to performance. If this is the case, the operative channel at low forces is almost certainly the slowly adapting type I (SA-I) channel, while another mechanoreceptor class, the SA-II nail unit, is a plausible mediator of the more accurate performance seen at high force levels. To test this two-channel hypothesis in experiment 2, we hydrated participants' thumbnails in order to reduce nail rigidity and thus prevent stimulation of underlying SA-II mechanoreceptors. This technique was found to reduce sensory accuracy in a force-matching task at high forces (1000 g) while leaving low force matching (100 g) unimpaired. Taken together, these results suggest that two sensory channels mediate the perception of fingertip forces in humans: one channel predominating at low forces (below approximately 400 g) and another responsible for perceiving high forces which is likely mediated by the SA-II nail unit.

Precision grip responses to unexpected rotational perturbations scale with axis of rotation

It has been established that rapid, pulse-like increases in precision grip forces ("catch-up responses") are elicited by unexpected translational perturbations and that response latency and strength scale according to the direction of linear slip relative to the hand as well as gravity. To determine if catch-up responses are elicited by unexpected rotational perturbations and are strength-, axis-, and/or direction-dependent, we imposed step torque loads about each of two axes which were defined relative to the subject's hand: the distal-proximal axis away from and towards the subject's palm, and the grip axis which connects the two fingertips. Precision grip responses were dominated initially by passive mechanics and then by active, unimodal catch-up responses. First dorsal interosseous activity, marking the start of the catch-up response, began 71-89 ms after the onset of perturbation. The onset latency, shape, and duration (217-231 ms) of the catch-up response were not affected by the axis, direction, or magnitude of the rotational perturbation, while strength was scaled by axis of rotation and slip conditions. Rotations about the grip axis that tilted the object away from the palm and induced rotational slip elicited stronger catch-up responses than rotations about the distal-proximal axis that twisted the object between the digits. To our knowledge, this study is the first to investigate grip responses to unexpected torque loads and to show characteristic, yet axis-dependent, catch-up responses for conditions other than pure linear slip.

Separate contributions of kinematic and kinetic errors to trajectory and grip force adaptation when transporting novel hand-held loads

Numerous studies of motor learning have examined the adaptation of hand trajectories and grip forces when moving grasped objects with novel dynamics. Such objects initially result in both kinematic and kinetic errors; i.e., mismatches between predicted and actual trajectories and between predicted and actual load forces. Here we investigated the contribution of these errors to both trajectory and grip force adaptation. Participants grasped an object with novel dynamics using a precision grip and moved it between two targets. Kinematic errors could be effectively removed using a force channel to constrain hand motion to a straight line. When moving in the channel, participants learned to modulate grip force in synchrony with load force and this learning generalized when movement speed in the channel was doubled. When the channel was removed, these participants continued to effectively modulate grip force but exhibited substantial kinematic errors, equivalent to those seen in participants who did not previously experience the object in the channel. We also found that the rate of grip force adaptation did not depend on whether the object was initially moved with or without a channel. These results indicate that kinematic errors are necessary for trajectory but not grip force adaptation, and that kinetic errors are sufficient for grip force but not trajectory adaptation. Thus, participants can learn a component of the object's dynamics, used to control grip force, based solely on kinetic errors. However, this knowledge is apparently not accessible or usable for controlling the movement trajectory when the channel is removed.

Botulinum neurotoxin treatment improves force regulation in writer's cramp

Writer's cramp patients show poor force regulation during handwriting, but also in other experimental tasks requiring fine motor control. Botulinum neurotoxin (BoNT) treatment is clinically effective in a substantial portion of writer's cramp patients, but the full mechanism of action remains enigmatic. BoNT possibly influences α- and γ-motoneurons through chemodenervation not only of extra-, but also intrafusal muscle fibres and might thus influence muscle spindle afferents. Hence, BoNT weakens injected muscles, but may also modulate sensory aspects of force control. Ten patients and 18 controls pressed their index finger on a force sensor tracking two visual targets: The first target consisted of five plateaus with successively higher force levels and alternated with ascending ramps. In the second target condition the same successive plateaus were to be reached by abrupt jumps. The generated force displayed as a time dependant curve. Root mean square of the difference between target and produced force level was calculated for each plateau/ramp/jump. Patients were treated with BoNT at week 4 and measured at baseline, weeks 2, 4, 6 and 8. Disturbed force regulation in patients for the plateaus and the second jump at baseline resolved after BoNT treatment, and the root mean square of force deviation decreased for the ramps. Fine force control was within the 95% confidence interval of the control group after treatment. In conclusion, force regulation was disturbed in patients and improved after BoNT treatment. This is not compatible with a simple muscle weakening and might thus reflect improved sensorimotor integration.

Does visually induced self-motion affect grip force when holding an object?

Accurate control of grip force during object manipulation is necessary to prevent the object from slipping, especially to compensate for the action of gravitational and inertial forces resulting from hand/object motion. The goal of the current study was to assess whether the control of grip force was influenced by visually induced self-motion (i.e., vection), which would normally be accompanied by changes in object load. The main task involved holding a 400-g object between the thumb and the index finger while being seated within a virtual immersive environment that simulated the vertical motion of an elevator across floors. Different visual motions were tested, including oscillatory (0.21 Hz) and constant-speed displacements of the virtual scene. Different arm-loading conditions were also tested: with or without the hand-held object and with or without oscillatory arm motion (0.9 Hz). At the perceptual level, ratings from participants showed that both oscillatory and constant-speed motion of the elevator rapidly induced a long-lasting sensation of self-motion. At the sensorimotor level, vection compellingness altered arm movement control. Spectral analyses revealed that arm motion was entrained by the oscillatory motion of the elevator. However, we found no evidence that grip force used to hold the object was visually affected. Specifically, spectral analyses revealed no component in grip force that would mirror the virtual change in object load associated with the oscillatory motion of the elevator, thereby allowing the grip-to-load force coupling to remain unaffected. Altogether, our findings show that the neural mechanisms underlying vection interfere with arm movement control but do not interfere with the delicate modulation of grip force. More generally, those results provide evidence that the strength of the coupling between the sensorimotor system and the perceptual level can be modulated depending on the effector.

Indirect measurement of pinch and pull forces at the shaft of laparoscopic graspers

The grasping instruments used in minimally invasive surgery reduce the ability of the surgeon to feel the forces applied on the tissue, thereby complicating the handling of the tissue and increasing the risk of tissue damage. Force sensors implemented in the forceps of the instruments enable accurate measurements of applied forces, but also complicate the design of the instrument. Alternatively, indirect estimations of tissue interaction forces from measurements of the forces applied on the handle are prone to errors due to friction in the linkages. Further, the force transmission from handle to forceps exhibits large nonlinearities, so that extensive calibration procedures are needed. The kinematic analysis of the grasping mechanism and experimental results presented in this paper show that an intermediate solution, force measurements at the shaft and rod of the grasper, enables accurate measurements of the pinch and pull forces on tissue with only a limited number of calibration measurements. We further show that the force propagation from the shaft and rod to the forceps can be approximated by a linear two-dimensional function of the opening angle of the grasper and the force on the rod.

Anticipatory scaling of grip forces when lifting objects of everyday life

The ability to predict and anticipate the mechanical demands of the environment promotes smooth and skillful motor actions. Thus, the finger forces produced to grasp and lift an object are scaled to the physical properties such as weight. While grip force scaling is well established for neutral objects, only few studies analyzed objects known from daily routine and none studied grip forces. In the present study, eleven healthy subjects each lifted twelve objects of everyday life that encompassed a wide range of weights. The finger pads were covered with force sensors that enabled the measurement of grip force. A scale registered load forces. In a control experiment, the objects were wrapped into paper to prevent recognition by the subjects. Data from the first lift of each object confirmed that object weight was anticipated by adequately scaled forces. The maximum grip force rate during the force increase phase emerged as the most reliable measure to verify that weight was actually predicted and to characterize the precision of this prediction, while other force measures were scaled to object weight also when object identity was not known. Variability and linearity of the grip force-weight relationship improved for time points reached after liftoff, suggesting that sensory information refined the force adjustment. The same mechanism seemed to be involved with unrecognizable objects, though a lower precision was reached. Repeated lifting of the same object within a second and third presentation block did not improve the precision of the grip force scaling. Either practice was too variable or the motor system does not prioritize the optimization of the internal representation when objects are highly familiar.

Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task

It has been concluded from numerous neurophysiological studies that humans rely on detecting discrete mechanical events that occur when grasping, lifting and replacing an object, i.e., during a prototypical manipulation task. Such events represent transitions between phases of the evolving manipulation task such as object contact, lift-off, etc., and appear to provide critical information required for the sequential control of the task as well as for corrections and parameterization of the task. We have sensorized a biomechatronic anthropomorphic hand with the goal to detect such mechanical transients. The developed sensors were designed to specifically provide the information about task-relevant discrete events rather than to mimic their biological counterparts. To accomplish this we have developed (1) a contact sensor that can be applied to the surface of the robotic fingers and that show a sensitivity to indentation and a spatial resolution comparable to that of the human glabrous skin, and (2) a sensitive low-noise three-axial force sensor that was embedded in the robotic fingertips and showed a frequency response covering the range observed in biological tactile sensors. We describe the design and fabrication of these sensors, their sensory properties and show representative recordings from the sensors during grasp-and-lift tasks. We show how the combined use of the two sensors is able to provide information about crucial mechanical events during such tasks. We discuss the importance of the sensorized hand as a test bed for low-level grasp controllers and for the development of functional sensory feedback from prosthetic devices.

Manipulating the edge of instability

We investigate the integration of visual and tactile sensory input for dynamic manipulation. Our experimental data and computational modeling reveal that time-delays are as critical to task-optimal multisensory integration as sensorimotor noise. Our focus is a dynamic manipulation task "at the edge of instability." Mathematical bifurcation theory predicts that this system will exhibit well-classified low-dimensional dynamics in this regime. The task was using the thumbpad to compress a slender spring prone to buckling as far as possible, just shy of slipping. As expected from bifurcation theory, principal components analysis gives a projection of the data onto a low dimensional subspace that captures 91-97% of its variance. In this subspace, we formulate a low-order model for the brain+hand+spring dynamics based on known mechanical and neurophysiological properties of the system. By systematically occluding vision and anesthetically blocking thumbpad sensation in 12 consenting subjects, we found that vision contributed to dynamic manipulation only when thumbpad sensation was absent. The reduced ability of the model system to compress the spring with absent sensory channels closely resembled the experimental results. Moreover, we found that the model reproduced the contextual usefulness of vision only if we took account of time-delays. Our results shed light on critical features of dynamic manipulation distinct from those of static pinch, as well as the mechanism likely responsible for loss of manual dexterity and increased reliance on vision when age or neuromuscular disease increase noisiness and/or time-delays during sensorimotor integration.

Precision grip function after free toe transfer in children with hypoplastic digits

Although toe-to-hand transfer has a defined role in the management of congenital hand deformities, it remains unclear how well children integrate the transferred digits into physiological grasping. We analysed fingertip forces in the precision grip of 13 patients when lifting a test object more than three years after free toe transfer for absent or hypoplastic digits. Clinically, most patients showed normal sensibility of transferred digits, but active motion and pinch strength were limited as compared to the normal hand. For the control of fingertip forces, two key features of the normal two-digit opposition grip were seen in all operated hands: adaptation of grip force to object weight and parallel coordination of lift and grip forces. These physiological grasping strategies developed independently of the patients' age at the time of operation, which ranged from one to 13 years. In four patients, we observed increased tangential load forces with the operated hand due to misalignments in the application of fingertips on the grasp surfaces. Such forces lead to increased grip force requirements on both fingers that may overload transferred digits with limited motor function. The need for optimal alignment of the grip axis during toe-transfer surgery is emphasised.

The contribution of non-digital afferent signals to grip force adjustments evoked by brisk unloading of the arm or the held object

OBJECTIVE

Earlier studies suggest that grip force adjustments evoked by mechanical perturbations result more from cutaneous signals from the fingertips, than from afferent signals from the supporting limb. Generally an increase in tangential load at the fingertips induces an increase in grip force, whereas a decrease in load induces the opposite reaction. Some data suggest that prior knowledge and experience influences the magnitude of grip force adjustments.

METHODS

This study examines the relative contribution of digital and arm afferent signals in the context of brisk involuntary upward flexions obtained either by unloading the arm (ARM) or the held object (OBJECT). Following the perturbation, the tangential load at the fingertips increased in ARM, but decreased in OBJECT. A subsidiary goal was to compare the performance of naive subjects with the performance of trained and informed subjects.

RESULTS

When the perturbation was completely unexpected, grip force increased sharply after OBJECT and ARM unloading. By contrast, when subjects had prior knowledge and experience with the upcoming perturbation, grip responses were clearly differentiated; grip force increased after ARM, but decreased after OBJECT.

CONCLUSIONS

These results challenge the view that cutaneous signals of the fingertips are the driving signals of grip force responses. Instead, afferent signals from the flexed arm would account well for the lack of difference between grip force responses in ARM and OBJECT under unpredictable conditions. These data provide clear evidence that prior knowledge and experience influences reactive grip force control, since subjects became able to repress unnecessary grip force modulation in OBJECT.

SIGNIFICANCE

These data have implications for understanding the initiation and the modulation of grip force adjustments.

Friction dynamics of trocars

BACKGROUND

In minimally invasive surgery, force feedback information on tissue manipulation is altered by friction between the instrument and the sealing mechanism of the trocar. It is unknown how the different sealing mechanisms of currently available trocars influence the friction forces. The current study investigated the dynamic changes in friction for various trocars at different instrument velocities.

METHODS

The friction characteristics for six common types of trocars were determined. A force sensor was attached to the shaft of a standard 5-mm disposable grasper to measure the forces required to move it through the trocars. Movement velocity and direction of the shaft were controlled by a servomotor. In addition, whether moistening the shaft reduced friction was tested.

RESULTS

The friction depended on the type of trocar, the movement velocity, and the movement direction, and varied between 0.25 and 3.0 N. Specifically, trocars with narrow sealing caps (i.e., high normal force onto the shaft) and trocars with thick sealing caps (i.e., large contact area) generate a high amount of friction. Moistening the shaft reduced friction 15% to 45%. For most trocars, large fluctuations in forces occur when the movement starts or when the direction reverses. The magnitude of these fluctuations varied between 0.2 and 2.5 N.

CONCLUSIONS

For some trocars, friction can be as great as the forces associated with instrument-tissue interaction. At movement reversals, friction fluctuates due to deformations of the rubber and silicon parts of the sealing mechanism. Such high variance can deteriorate surgical performance during high precision tasks (e.g., tissue manipulation) that typically involve many changes in movement direction. Comparisons of the investigated trocars indicate that the friction magnitude and variance can be reduced easily by changing the properties of the sealing cap or by lubricating the instruments.

Support-specific modulation of grip force in individuals with hemiparesis

OBJECTIVE

To investigate whether use of auxiliary sensory input will result in modulated grip force.

DESIGN

Case-control study.

SETTING

Free-standing acute inpatient rehabilitation hospital.

PARTICIPANTS

Six people with unilateral hemiparesis due to unilateral stroke and 6 control subjects without neurologic disorders.

INTERVENTIONS

Seated subjects lifted and transported the same object under 3 different conditions: with no support, with the target arm positioned on a freely moving skateboard, and with a finger from the subject's contralateral hand lightly touching the wrist of the target arm.

MAIN OUTCOME MEASURES

Peak grip force and temporal coupling between the grip force and lift-off of the object.

RESULTS

All subjects were able to better regulate grip force when provided with additional sensory input. Light finger touch resulted in decreased grip force, as did skateboard use ( P <.05). Subjects with hemiparesis showed 2 times longer latency between grip-force application and lift-off of the object ( P <.05).

CONCLUSIONS

Statistically significant grip-force reduction was noted with both support aids. These findings could have implications in clinical and rehabilitative areas.

Children with spastic hemiplegia are equally able as controls in maintaining a precise percentage of maximum force without visually monitoring their performance

In this study the hypothesis was tested that children with spastic hemiplegia rely more on externally guided visual feedback when trying to keep force constant with their affected hand (AH) as compared to their non-affected hand (NAH) and as compared to controls. An isometric force task in which a cursor had to be moved to a visually specified target that disappeared half way the task, was performed by 19 children with cerebral palsy (CP), spastic hemiplegia, aged between 5 and 16 years and an aged matched control group. It was found that the absolute deterioration of performance after withdrawal of target visualization did differ between AH, NAH and controls. The absolute error was smaller and the variability was larger in the hemiplegic hand. However, the normalized force error and co-efficient of variation increased similarly between groups. Furthermore, power spectrum density analysis of the force signal showed that both hands in both groups had a similar loss in the energy in the 2-3 Hz range when target visualization was removed. These results suggest that CP children are equally able to produce stable force without visually monitoring their performance than children without CP, provided they are allowed to operate within their own force range.

Cutaneous Inputs Can Activate the Ipsilateral Primary Motor Cortex During Bimanual Sensory-Driven Movements in Humans

Using transcranial magnetic stimulation (TMS), we examined whether sensory input from a finger affects activity of the ipsilateral primary motor cortex (M1) when human subjects hold a virtual object bimanually and whether this ipsilateral activation varies under different contexts. Subjects used both index fingers to hold two plates, which were subjected to unpredictable pulling loads from torque motors. Loads were delivered in a random sequence to either plate or concurrently to both, although the latter occurred most frequently. Finger forces vertical to the plates and surface electromyographs from the first dorsal interosseous muscles were recorded bilaterally during the task. TMS was sometimes applied over the finger area of the left M1 at variable times relative to load onset to examine cortical excitability. Strength of TMS was set around the active motor threshold of the right finger muscle while subjects waited for loading to the handheld plates. When one plate was singly loaded, the M1 contralateral to the loaded finger was activated, causing automatic force increases in the finger. In addition, the ipsilateral M1 was activated during such loading, associated with transient force increases in the contralateral nonloaded finger. Activations in the ipsilateral M1 were also observed during concurrent loading, when activations were stronger than those following single loading of the contralateral plate. Ipsilateral activations weakened when concurrent loading was less frequent. These results suggest interactions between bilateral sensorimotor cortices during bimanual coordinated movements, with strength varying by context.

Deficits of anticipatory grip force control after damage to peripheral and central sensorimotor systems

Healthy subjects adjust their grip force economically to the weight of a hand-held object. In addition, inertial loads, which arise from arm movements with the grasped object, are anticipated by parallel grip force modulations. Internal forward models have been proposed to predict the consequences of voluntary movements. Anesthesia of the fingers impairs grip force economy but the feedforward character of the grip force/load coupling is preserved. To further analyze the role of sensory input for internal forward models and to characterize the consequences of central nervous system damage for anticipatory grip force control, we measured grip force behavior in neurological patients. We tested a group of stroke patients with varying degrees of impaired fine motor control and sensory loss, a single patient with complete and permanent differentation from all tactile and proprioceptive input, and a group of patients with amyotrophic lateral sclerosis (ALS) that exclusively impairs the motor system without affecting sensory modalities. Increased grip forces were a common finding in all patients. Sensory deficits were a strong but not the only predictor of impaired grip force economy. The feedforward mode of grip force control was typically preserved in the stroke patients despite their central sensory deficits, but was severely disturbed in the patient with peripheral sensory deafferentation and in a minority of stroke patients. Moderate deficits of feedforward control were also obvious in ALS patients. Thus, the function of the internal forward model and the precision of grip force production may depend on a complex anatomical and functional network of sensory and motor structures and their interaction in time and space.

Different modes of grip force control: voluntary and externally guided arm movements with a hand-held load

OBJECTIVE

When we move hand-held objects that exhibit stable physical properties grip force is regulated in anticipation of movement-induced inertial loads. In contrast, when the object's behaviour is unpredictable, grip force is adjusted in response to sensory feedback with the consequence that grip tends to lag behind load. Previous studies analysed reactive and predictive grip force behaviour by systematically varying the predictability of the physical object properties.

METHODS

This study examines if anticipatory force control also depends on the predictability of the limb dynamics interfering with external objects. The coupling between grip and load force profiles was comparatively analysed during voluntary and externally guided vertical arm movements with an instrumented hand-held object. Voluntary and externally guided movements were performed with and without visual feedback.

RESULTS

During voluntary arm movements grip force was precisely regulated in anticipation of movement-induced inertial load fluctuations with grip force increasing in parallel with load force without an obvious time delay. In contrast, during externally guided movements grip force was regulated in reaction to the imposed load fluctuations. However, the reflex-mediated grip force responses were still flexible to account for the differential loading requirements of movement direction. There was no difference of grip force performance between movements performed with and without visual feedback.

CONCLUSIONS AND SIGNIFICANCE

The results suggest that predictability of both the external object and the dynamics of the own body is essential to establish an anticipatory mode of grip force regulation. Unpredictability of the own limb dynamics results in a reactive mode of grip force control. Reactive grip force control appears to be both highly automatised and flexible reflecting differential loading requirements of movement direction.

Efficiency of grip force adjustments for impulsive loading during imposed and actively produced collisions

During object manipulation, both predictive feedforward and reactive feedback mechanisms are available to adjust grip force (GF) levels to compensate for the destabilizing effects of load force changes. During collisions, load force increases impulsively (< 20 ms). Thus, only predictive control of GF can be used to ensure grasp stabilization. A collision paradigm is here used to investigate the effects of practice and vision on the efficiency of the predictive control of GF. Subjects actively produced or received an imposed collision with a pendulum. Subjects were more efficient (used smaller GF for identical loads) when producing than when receiving the collisions. Effects of practice were evident in the active producing task only, with GF levels reducing over repetitions, suggesting that sensorimotor memory for the task was used to adjust GF more efficiently. With imposed collisions, GF levels did not reduce with repetition, which suggests that a direct relation between motor action and sensory feedback may be necessary to improve efficiency. Nevertheless, in this condition GF was lower with visual feedback, indicating potential for more efficient grip possibly associated with subjects degree of confidence. We discuss the implications of these results for accounts of the predictive and the reactive control of movement.

Selective deficits of grip force control during object manipulation in patients with reduced sensibility of the grasping digits

Persons with impaired manual sensibility frequently report problems to use the hand in manipulative tasks, such as using tools or buttoning a shirt. At least two control processes determine grip forces during voluntary object manipulation. Anticipatory force control specifies the motor commands on the basis of predictions about physical object properties and the consequences of our own actions. Feedback sensory information from the grasping digits, representing mechanical events at the skin-object interface, automatically modifies grip force according to the actual loading requirements and updates sensorimotor memories to support anticipatory grip force control. We investigated grip force control in nine patients with moderately impaired tactile sensibility of the grasping digits and in nine sex- and age-matched healthy controls lifting and holding an instrumented object. In healthy controls grip force was adequately scaled to the weight of the object to be lifted. The grip force was programmed to smoothly change in parallel with load force over the entire lifting movement. In particular, the grip force level was regulated in an economical way to be always slightly higher than the minimum required to prevent the object slipping. The temporal coupling between the grip and load force profiles achieved a high precision with the maximum grip and load forces coinciding closely in time. For the temporal regulation of the grip force profile patients with impaired tactile sensibility maintained the close co-ordination between proximal arm muscles, responsible for the lifting movement and the fingers stabilising the grasp. Maximum grip force coincided with maximum acceleration of the lifting movement. However, patients employed greater maximum grip forces and greater grip forces to hold the object unsupported when compared with controls. Our results give further evidence to the suggestion that during manipulation of objects with known physical properties the anticipatory temporal regulation of the grip force profile is centrally processed and less under sensory feedback control. In contrast, sensory afferent information from the grasping fingers plays a dominant role for the efficient scaling of the grip force level according to actual loading requirements.

Grip force control during object manipulation in cerebral stroke

OBJECTIVE

To analyze impairments of manipulative grip force control in patients with chronic cerebral stroke and relate deficits to more elementary aspects of force and grip control.

METHODS

Nineteen chronic stroke patients with fine motor deficits after unilateral cerebral lesions were examined when performing 3 manipulative tasks consisting of stationary holding, transport, and vertical cyclic movements of an instrumented object. Technical sensors measured the grip force used to stabilize the object in the hand and the object accelerations, from which the dynamic loads were calculated.

RESULTS

Many patients produced exaggerated grip forces with their affected hand in all types of manipulations. The amount of finger displacement in a grip perturbation task emerged as a highly sensitive measure for predicting the force increases. Measures of grip strength and maximum speed of force changes could not account for the impairments with comparable accuracy. In addition to force economy, the precision of the coupling between grip and load forces was impaired. However, no temporal delays were typically observed between the grip and load force profiles during cyclic movements.

CONCLUSIONS

Impaired sensibility and sensorimotor processing, evident by delayed reactions in the perturbation task, lead to an excessive increase of the safety margin between the actual grip force and the minimum force necessary to prevent object slipping. In addition to grip force scaling, cortical sensorimotor areas are responsible for smoothly and precisely adjusting grip forces to loads according to predictions about movement-induced loads and sensory experiences. However, the basic feedforward mechanism of grip force control by internal models appears to be preserved, and thus may not be a cortical but rather a subcortical or cerebellar function, as has been suggested previously.

Moving objects with clumsy fingers: how predictive is grip force control in patients with impaired manual sensibility?

OBJECTIVE

Anticipatory grip force adjustments to movement-induced load fluctuations of a hand-held object suggest that motion planning is based on an internal forward model of both the external object properties and the dynamics of the own motor apparatus. However, the central nervous system also refers to real time sensory feedback from the grasping digits in order to achieve a highly economical coupling between grip force and the actual loading requirements.

METHODS

We analyzed grip force control during vertical point-to-point arm movements with a hand-held instrumented object in 9 patients with moderately impaired tactile sensibility of the grasping digits due to chronic median nerve compression (n = 3), axonal (n = 3) and demyelinating sensory polyneuropathy (n = 3) in comparison to 9 healthy age- and sex-matched control subjects. Point-to-point arm movements started and ended with the object being held stationary at rest. Load force changes arose from inertial loads related to the movement. A maximum of load force occurred early in upward and near the end of downward movements.

RESULTS

Compared to healthy controls, patients with impaired manual sensibility generated similar static grip forces during stationary holding of the object and similar force ratios between maximum grip and load force. These findings reflect effective grip force scaling in relation to the movement-induced loads despite reduced afferent feedback from the grasping digits. For both groups the maxima of grip and load force coincided very closely in time, indicating that the temporal regulation of the grip force profile with the load profile was processed with a similar high precision. In addition, linear regression analyses between grip and load forces during movement-related load increase and load decrease phases revealed a similar precise temporo-spatial coupling between grip and load forces for patients and controls.

CONCLUSIONS

Our results suggest that the precise and anticipatory adjustment of the grip force profile to the load force profile arising from voluntary arm movements with a hand-held object is centrally mediated and less under sensory feedback control. As suggested by previous investigations, the efficient scaling of the grip force magnitude in relation to the movement-induced loads may be intact when deficits of tactile sensibility from the grasping fingers are moderate.

The effects of digital anesthesia on force control using a precision grip

A total of 20 right-handed subjects were asked to perform a grasp-lift-and-hold task using a precision grip. The grasped object was a one-degree-of-freedom manipuladum consisting of a vertically mounted linear motor capable of generating resistive forces to simulate a range of object weights. In the initial study, seven subjects (6 women, 1 man; ages 24-56 yr) were first asked to lift and hold the object stationary for 4 s. The object presented a metal tab with two different surface textures and offered one of four resistive forces (0.5, 1.0, 1.5, and 2.0 N). The lifts were performed both with and without visual feedback. Next, the subjects were asked to perform the same grasping sequence again after ring block anesthesia of the thumb and index finger with mepivacaine. The objective was to determine the degree to which an internal model obtained through prior familiarity might compensate for the loss of cutaneous sensation. In agreement with previous studies, it was found that all subjects applied significantly greater grip force after digital anesthesia, and the coordination between grip and load forces was disrupted. It appears from these data, that the internal model alone is insufficient to completely compensate for the loss of cutaneous sensation. Moreover, the results suggest that the internal model must have either continuous tonic excitation from cutaneous receptors or at least frequent intermittent reiteration to function optimally. A subsequent study performed with 10 additional subjects (9 women, 1 man; ages 24-49 yr) indicated that with unimpaired cutaneous feedback, the grasping and lifting forces were applied together with negligible forces and torques in other directions. In contrast, after digital anesthesia, significant additional linear and torsional forces appeared, particularly in the horizontal and frontal planes. These torques were thought to arise partially from the application of excessive grip force and partially from a misalignment of the two grasping fingers. These torques were further increased by an imbalance in the pressure exerted by the two opposing fingers. Vision of the grasping hand did not significantly correct the finger misalignment after digital anesthesia. Taken together, these results suggest that mechanoreceptors in the fingertips signal the source and direction of pressure applied to the skin. The nervous system uses this information to adjust the fingers and direct the pinch forces optimally for grasping and object manipulation.

Importance of cutaneous feedback in maintaining a secure grip during manipulation of hand-held objects

Previous research has shown that grip and load forces are modulated simultaneously during manipulation of a hand-held object. This close temporal coupling suggested that both forces are controlled by an internal model within the CNS that predicts the changes in tangential force on the fingers. The objective of the present study was to examine how the internal model would compensate for the loss of cutaneous sensation through local anesthesia of the index and thumb. Ten healthy adult subjects (5 men and 5 women aged 20-57 yr) were asked to grasp, lift, and hold stationary, a 250 g object for 20 s. Next, the subjects were asked to perform vertical oscillatory movements over a distance of 20 cm at a rate of 1.0 Hz for 30 s. Eleven trials were performed with intact sensation, and 11 trials after a local ring-block anesthesia of the index and thumb with bupivacain (5 mg/ml). During static holding, loss of cutaneous sensation produced a significant increase in the safety margin. However, the grip force declined significantly over the 20-s static hold period. During oscillatory arm movements, grip and load forces were continuously modulated together in a predictive manner as suggested by Flanagan and Wing. Again, the grip force declined over the 30-s movement, and 7/10 subjects dropped the object at least once. With intact sensation, the object was never dropped; but with the fingers anesthetized, it was dropped on 36% of the trials, and a significant slip occurred on a further 12%. The mean correlation between the grip and load forces for all subjects deteriorated from 0.71 with intact sensation to 0.48 after digital anesthesia. However, a cross-correlation calculated between the grip and load forces indicated that the phase lag was approximately zero both with and without digital anesthesia. Taken together, the data from the present study suggest that cutaneous afferents are required for setting and maintaining the background level of the grip force in addition to their phasic slip-detection function and their role in adapting the grip force/load force ratio to the friction on initial contact with an object. Finally, at a more theoretical level, they correct and maintain an internal model of the physical properties of hand-held objects.

Force overflow and levodopa-induced dyskinesias in Parkinson's disease

We assessed force coordination of the hand in Parkinson's disease and its relationship to motor complications of levodopa therapy, particularly to levodopa-induced dyskinesias (LID). We studied two groups of Parkinson's disease patients with (Parkinson's disease + LID, n = 23) and without levodopa-induced dyskinesias (Parkinson's disease - LID, n = 10), and age-matched healthy controls. The motor score of the Unified Parkinson's Disease Rating Scale, a dyskinesia score and force in a grip-lift paradigm were assessed ON and OFF levodopa. A pathological increase of forces was seen in ON-state in Parkinson's disease + LID only. In Parkinson's disease + LID, the force involved in pressing down the object before lifting was significantly increased by levodopa (by 61%, P < 0.05). An overshooting of peak grip force by 51% (P < 0.05) and of static grip force by 45% (P < 0.01) was observed in the ON- compared with the OFF-drug condition. In contrast, no excessive force was found in Parkinson's disease - LID. Peak grip force in ON-state was 140% (P < 0.05) higher in Parkinson's disease + LID than in Parkinson's disease - LID, while static grip force was increased by 138% (P < 0.01) between groups. Severity of peak-dose dyskinesias was strongly correlated with grip force in ON-state (r = 0.79 with peak force, P < 0.01). No correlation was observed between forces and the motor score as well as with the daily dose of dopaminergic medication. Force excess was only observed in patients with LID and motor fluctuations. A close relationship was seen between the overshooting of forces and dyskinesias in the ON-drug condition. We postulate that both LID and grip force excess share common pathophysiological mechanisms related to motor fluctuations.

The effects of digital anaesthesia on predictive grip force adjustments during vertical movements of a grasped object

Grip force adjustments to fluctuations of inertial loads induced by vertical arm movements with a grasped object were analysed during normal and impaired finger sensibility. Normally grip force is modulated in a highly economical way in parallel with fluctuations of load force. Two subjects performed vertical up and down movements of a grasped object, both with normal finger sensibility and then cutaneously anaesthetized finger sensibility. Short breaks were taken in between single movements, during which the object was held stationary. After digital anaesthesia was applied to the grasping fingers, both subjects substantially increased the grip force. The grip force amplitude and timing still anticipated changes in load force, although the established grip force had already overcome movement-induced load force peaks. This implies that the increase of grip force and consequently the elevated force ratio between maximum grip and maximum load force are not processed to alter the feedforward system of grip force control. Cutaneous afferent information from the grasping digits appears to be necessary for economic scaling of the grip force level, but it plays a subordinate role in the precise anticipatory temporal coupling of grip and load forces during voluntary object manipulation.

Reactive control of precision grip does not depend on fast transcortical reflex pathways in X-linked Kallmann subjects

It has been shown that subjects maintain grasp stability by automatically regulating grip force in response to loads applied tangentially to a manipulandum held using a precision grip. Signals from cutaneous mechanoreceptors convey the information necessary for both the initiation and scaling of responses. The central neural pathways that support these grip reactions are unknown. However, the latency of the increase in force is similar to that of 'long-latency' transcortical reflexes recorded from muscles following muscle stretch or electrical stimulation of digital nerves. This study assessed the importance of fast transcortical pathways for reactive grip responses by examining these responses in subjects with X-linked Kallmann's syndrome (XKS). Subjects were selected whose corticospinal projection, as assessed by magnetic brain stimulation, is essentially ipsilateral, and in whom the long-latency reflex components following digital nerve stimulation are only found contralateral to the stimulated side. Despite this anomaly of the fast corticospinal pathway, these XKS subjects responded in the same way as control subjects; grip response latencies were similar and responses were appropriately scaled. However, the non-operating hand of these XKS subjects often mirrored the grip force changes of the operating hand. Reflex force mirroring was most marked during the first 50 ms and the force output was always less than 20 % of that of the operating hand. We conclude, firstly, that somatosensory driven precision grip responses that support grasp stability do not depend on fast conducting corticospinal pathways in these subjects and, secondly, that such responses do not use those 'long-latency' reflex pathways probed by cutaneomuscular reflexes elicited by electrical stimulation of digital nerves.

Contact-evoked changes in EMG activity during human grasp

Contact-evoked changes in EMG activity during human grasp. 2215 Cutaneous receptors in the digits discharge bursts of activity on contact with an object during human grasp. In this study, we investigated the contribution of this sensory activity to the responses of muscles involved in the task. Twelve subjects performed a standardized precision grasp task without the aid of vision. Electromyographic (EMG) responses in trials when the object was present were compared with those in which the object, and hence the associated afferent responses, were unexpectedly absent. Significant differences in EMG amplitude occurred in the interval 50-100 ms after contact in all subjects and in 33/46 of the muscles sampled. The differences emerged as early as 34 ms after contact and comprised as much as a fourfold change in EMG from 50 to 100 ms after contact with the object. Typically, EMG responses were larger when the object was present (OP), though there were cases, particularly in the thenar muscles, in which the responses increased when the object was absent (OA). Local anesthesia of the thumb and index finger attenuated contact-evoked EMG activity in at least one muscle in all four subjects tested. In one subject, contact-evoked responses were abolished completely during the anesthesia in all four muscles sampled. The results indicate that the sensory activity signaling contact plays a key role in regulating EMG activity during human grasp. Much of this feedback action is attributable to cutaneous receptors in the digits and probably involves both spinal and supraspinal pathways.

Sensory input and control of grip

When we use our digits to manipulate objects the applied fingertip forces and torques tangential to the grip surfaces are a result of complex muscle activity. These patterns are acquired during our ontogenetic development and we select them according to the manipulative intent. But the basic force coordination expressed in these patterns has to be tuned to the physical properties of the current object, e.g. shape, surface friction and weight. This takes place primarily by parametric adjustments of the force output based on internal models of the target object, i.e. implicit memory systems that represent critical object properties. From visual or haptic information we identify objects and automatically retrieve the relevant models. These models are then used to adapt the motor commands prior to their execution. The formation of models and their swift updating with changes in object properties depend, however, on signals from tactile sensors in the fingertips.

Mechanisms for force adjustments to unpredictable frictional changes at individual digits during two-fingered manipulation

Previous studies on adaptation of fingertip forces to local friction at individual digit-object interfaces largely focused on static phases of manipulative tasks in which humans could rely on anticipatory control based on the friction in previous trials. Here we instead analyze mechanisms underlying this adaptation after unpredictable changes in local friction between consecutive trials. With the tips of the right index and middle fingers or the right and left index fingers, subjects restrained a manipulandum whose horizontal contact surfaces were located side by side. At unpredictable moments a tangential force was applied to the contact surfaces in the distal direction at 16 N/s to a plateau at 4 N. The subjects were free to use any combination of normal and tangential forces at the two fingers, but the sum of the tangential forces had to counterbalance the imposed load. The contact surface of the right index finger was fine-grained sandpaper, whereas that of the cooperating finger was changed between sandpaper and the more slippery rayon. The load increase automatically triggered normal force responses at both fingers. When a finger contacted rayon, subjects allowed slips to occur at this finger during the load force increase instead of elevating the normal force. These slips accounted for a partitioning of the load force between the digits that resulted in an adequate adjustment of the normal:tangential force ratios to the local friction at each digit. This mechanism required a fine control of the normal forces. Although the normal force at the more slippery surface had to be comparatively low to allow slippage, the normal forces applied by the nonslipping digit at the same time had to be high enough to prevent loss of the manipulandum. The frictional changes influenced the normal forces applied before the load ramp as well as the size of the triggered normal force responses similarly at both fingers, that is, with rayon at one contact surface the normal forces increased at both fingers. Thus to independently adapt fingertip forces to the local friction the normal forces were controlled at an interdigital level by using sensory information from both engaged digits. Furthermore, subjects used both short- and long-term anticipatory mechanisms in a manner consistent with the notion that the central nervous system (CNS) entertains internal models of relevant object and task properties during manipulation.

Artificial sensibility based on the use of piezoresistive sensors. Preliminary observations

Piezoresistive sensors, applied to the fingertips of non-sensate fingers, were used for the detection of touch and pressure in four patients with recent median nerve repairs, and in one patient using a myoelectric prosthesis. The signals from the sensors, produced by the tactile stimuli, were processed and transposed as electrical stimuli to sensate skin of the ipsi- or contralateral arm by the use of skin electrodes. With this setup the test subjects could rapidly learn to differentiate between tactile stimuli applied to different fingers, thereby regaining spatial resolution in the hand. All five patients rapidly improved their ability to regulate the power of pinch grip without the help of vision. The patient with a hand prosthesis rapidly learned to discriminate between four different levels of pressure, applied to the thumb by four different Semmes--Weinstein monofilaments (75, 125, 280 and 450 g). These results indicate that the system is of potential value for patients lacking sensibility or using prostheses.

Tangential torque effects on the control of grip forces when holding objects with a precision grip

When we manipulate small objects, our fingertips are generally subjected to tangential torques about the axis normal to the grasp surface in addition to linear forces tangential to the grasp surface. Tangential torques can arise because the normal force is distributed across the contact area rather than focused at a point. We investigated the effects of tangential torques and tangential forces on the minimum normal forces required to prevent slips (slip force) and on the normal forces actually employed by subjects to hold an object in a stationary position with the use of the tips of the index finger and thumb. By changing the location of the object's center of gravity in relation to the grasp surface, various levels of tangential torque (0-50 N x mm) were created while the subject counteracted object rotation. Tangential force (0-3.4 N) was varied by changing the weight of the object. The flat grasp surfaces were covered with rayon, suede, or sandpaper, providing differences in friction in relation to the skin. Under zero tangential force, both the employed normal force and the slip force increased in proportion to tangential torque with a slope that reflected the current frictional condition. Likewise, with pure tangential force, these forces increased in proportion to tangential force. The effects of combined tangential torques and tangential forces on the slip force were primarily additive, but there was a significant interaction of these variables. Specifically, the increase in slip force for a given increment in torque decreases as a function of tangential force. A mathematical model was developed that successfully predicted slip force from tangential torque, tangential force, and an estimate of coefficient of static friction in the digit-surface interface. The effects of combined tangential torques and forces on the employed normal force showed the same pattern as the effects on the slip force. The safety margin against frictional slips, measured as the difference between the employed normal force and the slip force, was relatively small and constant across all tangential force and torque levels except at small torques (< 10 N x mm). There was no difference in safety margin between the digits. In conclusion, tangential torque strongly influences the normal force required for grasp stability. When controlling normal force, people take into account, in a precise fashion, the slip force reflecting both tangential force and tangential torque and their interaction as well as the current frictional condition in the object-digit interface.

Visual and somatosensory information about object shape control manipulative fingertip forces

We investigated the importance of visual versus somatosensory information for the adaptation of the fingertip forces to object shape when humans used the tips of the right index finger and thumb to lift a test object. The angle of the two flat grip surfaces in relation to the vertical plane was changed between trials from -40 to 30 degrees. At 0 degrees the two surfaces were parallel, and at positive and negative angles the object tapered upward and downward, respectively. Subjects automatically adapted the balance between the horizontal grip force and the vertical lift force to the object shape and thereby maintained a rather constant safety margin against frictional slips, despite the huge variation in finger force requirements. Subjects used visual cues to adapt force to object shape parametrically in anticipation of the force requirements imposed once the object was contacted. In the absence of somatosensory information from the digits, sighted subjects still adapted the force coordination to object shape, but without vision and somatosensory inputs the performance was severely impaired. With normal digital sensibility, subjects adapted the force coordination to object shape even without vision. Shape cues obtained by somatosensory mechanisms were expressed in the motor output about 0. 1 sec after contact. Before this point in time, memory of force coordination used in the previous trial controlled the force output. We conclude that both visual and somatosensory inputs can be used in conjunction with sensorimotor memories to adapt the force output to object shape automatically for grasp stability.

Control of grip force during restraint of an object held between finger and thumb: responses of muscle and joint afferents from the digits

Pulling or pushing forces applied to an object gripped between finger and thumb excite tactile afferents in the digits in a manner awarding these afferents probable roles in triggering the reactive increases in grip force and in scaling the changes in grip force to the changes in applied load-force. In the present study we assessed the possible contributions from slowly adapting afferents supplying muscles involved in the generation of grip forces and from digital joint afferents. Impulses were recorded from single afferents via tungsten microelectrodes inserted percutaneously into the median or ulnar nerves of awake human subjects. The subject held a manipulandum with a precision grip between the receptor-related digit (index finger, middle finger, ring finger or thumb) and an opposing digit (thumb or index finger). Ramp-and-hold load forces of various amplitudes (0.5-2.0 N) and ramp rates (2-32 N/s) were delivered tangential to the parallel grip surfaces in both the distal (pulling) and the proximal (pushing) directions. Afferents from the long flexors of the digits (n = 19), regardless of their muscle-spindle or tendon-organ origin, did not respond to the load forces before the onset of the automatic grip response, even with the fastest ramp rates. Their peak discharge closely followed the peak rate of increase in grip force. During the hold phase of the load stimulus, the afferents sustained a tonic discharge. The discharge rates were significantly lower with proximally directed loads despite the mean grip-force being similar in the two directions. This disparity could be explained by the differing contributions of these muscles to the finger-tip forces necessary to restrain the manipulandum in the two directions. Most afferents from the short flexors of the digits (n = 17), including the lumbricals, dorsal interossei, opponens pollicis, and flexor pollicis brevis, did not respond at all, even with the fastest ramps. Furthermore, the ensemble pattern from the joint afferents (n = 6) revealed no significant encoding of changes in finger-tip forces before the onset of the increase in grip force. We conclude that mechanoreceptors in the flexors of the digits and in the interphalangeal joints cannot be awarded a significant role in triggering the automatic changes in grip force. Rather, their responses appeared to reflect the reactive forces generated by the muscles to restrain the object. Hence, it appears that tactile afferents of the skin in contact with the object are the only species of receptor in the hand capable of triggering and initially scaling an appropriate change in grip force in response to an imposed change in load force, but that muscle and joint afferents may provide information related to the reactive forces produced by the subject.

Control of grip force during restraint of an object held between finger and thumb: responses of cutaneous afferents from the digits

Unexpected pulling and pushing loads exerted by an object held with a precision grip evoke automatic and graded increases in the grip force (normal to the grip surfaces) that prevent escape of the object; unloading elicits a decrease in grip force. Anesthesia of the digital nerves has shown that these grip reactions depend on sensory signals from the digits. In the present study we assessed the capacity of tactile afferents from the digits to trigger and scale the evoked grip responses. Using tungsten microelectrodes inserted percutaneously into the median nerve of awake human subjects, unitary recordings were made from ten FA I and 13 FA II rapidly adapting afferents, and 12 SA I and 18 SA II slowly adapting afferents. While the subject held a manipulandum between a finger and the thumb, tangential load forces were applied to the receptor-bearing digit (index, middle, or ring finger or thumb) as trapezoidal load-force profiles with a plateau amplitude of 0.5-2.0 N and rates of loading and unloading at 2-8 N/s, or as "step-loads" of 0.5 N delivered at 32 N/s. Such load trials were delivered in both the distal (pulling) and proximal (pushing) direction. FA I afferents responded consistently to the load forces, being recruited during the loading and unloading phases. During the loading ramp the ensemble discharge of the FA I afferents reflected the first time-derivative of the load force (i.e., the load-force rate). These afferents were relatively insensitive to the subject's grip force responses. However, high static finger forces appeared to suppress excitation of these afferents during the unloading phase. The FA II afferents were largely insensitive to the load trials: only with the step-loads did some afferents respond. Both classes of SA afferents were sensitive to load force and grip force, and discharge rates were graded by the rate of loading. The firing of the SA I afferents appeared to be relatively more influenced by the subject's grip-force response than the discharge of the SA II afferents, which were more influenced by the load-force stimulus. The direction in which the tangential load force was applied to the skin influenced the firing of most afferents and in particular the SA II afferents. Individual afferents within each class (except for the FA IIs) responded to the loading ramp before the onset of the subject's grip response and may thus be responsible for initiating the automatic increase in grip force. However, nearly half of the FA I afferents recruited by the load trials responded to the loading phase early enough to trigger the subject's grip-force response, whereas only ca. one-fifth of the SA Is and SA IIs did so. These observations, together with the high density of FA I receptors in the digits, might place the FA I afferents in a unique position to convey the information required to initiate and scale the reactive grip-force responses to the imposed load forces.