Is the thumb a fifth finger? A study of digit interaction during force production tasks

Influence of Single-Digit Exclusions on Grip Strength in Healthy Male Adults

Grip strength (GS) of the human hand is vital to deal with objects of various sizes and shapes in daily life. The strength deteriorates if one or more digits of the hand are amputated. The main aim of this study was to determine the influence of single-digit exclusions on the GS. Healthy adults (n = 102, male) with an age range of 20 to 70 years (mean ± SD, 31.92 ± 13.14 years) participated in the study. The movements of unused digits were restrained using splints to avoid digit enslaving effects. T (Thumb), (I) Index, M (Middle), R (Ring), L (Little) digits were chosen for exclusion based on the digit configurations. The digit configurations were IMRL, MRLT, IMRT IRLT and, IMLT with exclusions T, I, L, M, and, R respectively. The results of two-way ANOVA with repeated measures showed no significant interaction (p = 0.923) between hand dominance and digit configurations. But statistical significance (p = 0.000) was observed in digit configurations and hand dominance individually. The results of posthoc analysis using Bonferroni corrected pairwise comparisons showed no statistical significance (p = 0.004) between IRLT and IMLT of both hands since the corrected p-value was 0.003. The outcomes of the F-test showed no statistical significance (p > 0.05) between the digit configurations IMRLT, IMRL; IMRL, MRLT; MRLT, IMRT; IRLT, IMLT individually within dominant (D) and non-dominant (ND) hands. When the F-test was performed using the same digit configurations between both hands, statistical significance was not observed in all the configurations except IMLT (p < 0.05). The results of the Pearson correlation of GS were observed to be very strong between the same digit configurations of D and ND hands.

Thenar Muscle Motor Imagery Increases Spinal Motor Neuron Excitability of the Abductor Digiti Minimi Muscle

When a person attempts intended finger movements, unintended finger movement also occur, a phenomenon called “enslaving”. Given that motor imagery (MI) and motor execution (ME) share a common neural foundation, we hypothesized that the enslaving effect on the spinal motor neuron excitability occurs during MI. To investigate this hypothesis, electromyography (EMG) and F-wave analysis were conducted in 11 healthy male volunteers. Initially, the EMG activity of the left abductor digiti minimi (ADM) muscle during isometric opposition pinch movement by the left thumb and index finger at 50% maximal effort was compared with EMG activity during the Rest condition. Next, the F-wave and background EMG recordings were performed under the Rest condition, followed by the MI condition. Specifically, in the Rest condition, subjects maintained relaxation. In the MI condition, they imagined isometric left thenar muscle activity at 50% maximal voluntary contraction (MVC). During ME, ADM muscle activity was confirmed. During the MI condition, both F-wave persistence and the F-wave/M-wave amplitude ratio obtained from the ADM muscle were significantly increased compared with that obtained during the Rest condition. No difference was observed in the background EMG between the Rest and MI conditions. These results suggest that MI of isometric intended finger muscle activity at 50% MVC facilitates spinal motor neuron excitability corresponding to unintended finger muscle. Furthermore, MI may induce similar modulation of spinal motor neuron excitability as actual movement.

The Nature of Finger Enslaving: New Results and Their Implications

We present a review on the phenomenon of unintentional finger action seen when other fingers of the hand act intentionally. This phenomenon (enslaving) has been viewed as a consequence of both peripheral (e.g., connective tissue links and multifinger muscles) and neural (e.g., projections of corticospinal pathways) factors. Recent studies have shown relatively large and fast drifts in enslaving toward higher magnitudes, which are not perceived by subjects. These and other results emphasize the defining role of neural factors in enslaving. We analyze enslaving within the framework of the theory of motor control with spatial referent coordinates. This analysis suggests that unintentional finger force changes result from drifts of referent coordinates, possibly reflecting the spread of cortical excitation.

Synergies at the level of motor units in single-finger and multi-finger tasks

We explored the organization of motor units recorded in the flexor digitorum superficialis into stable groups (MU-modes) and force-stabilizing synergies in spaces of MU-modes. Young, healthy participants performed one-finger and three-finger accurate cyclical force production tasks. Two wireless sensor arrays (Trigno Galileo, Delsys, Inc.) were placed over the proximal and distal portions of the muscle for surface recording and identification of motor unit action potentials. Principal component analysis with Varimax rotation and factor extraction was used to identify MU-modes. The framework of the uncontrolled manifold hypothesis was used to analyze inter-cycle variance in the space of MU-modes and compute the index of force-stabilizing synergy. Multiple linear regression between the first MU-mode in the three-finger task and the first MU-modes in the three single-finger tasks showed no differences between the data recorded by the two electrodes suggesting that MU-modes were unlikely to be synonymous with muscle compartments. Multi-MU-mode synergies stabilizing task force were documented across all tasks. In contrast, there were no force-stabilizing synergies in the three-finger task analyzed in the space of individual finger forces. Our results confirm the synergic organization of motor units in single-finger tasks and, for the first time, expand this result to multi-finger tasks. We offer an interpretation of the findings within the theoretical scheme of control with spatial referent coordinates expanded to the analysis of individual motor units. The results confirm trade-offs between synergies at different hierarchical levels and expand this notion to intra-muscle synergies.

Evaluation of Finger Force Control Ability in Terms of Multi-Finger Synergy

In this study, finger force control abilities are quantified by the concept of multi-finger synergy in conjunction with uncontrolled manifold (UCM) analysis. Two indices, namely, repeatability and flexibility, representing features of multi-finger synergy were proposed to overcome the limitation of previously introduced indices, such as floor effects and distortion problems. The proposed indices were applied to stroke patients and healthy adults through specifically designed experiments. The experimental results showed a clear difference between stroke patients and healthy adults. Also, interestingly, there was a difference in an outcome between two-stroke patient subgroups: stroke patients in whom the dominant hand was affected and non-dominant hand was affected groups.

A new method of measuring the thumb pronation and palmar abduction angles during opposition movement using a three-axis gyroscope

Background

Thumb opposition is vital for hand function and involves pronation and palmar abduction. The improvement of pronation is often used as one of the evaluation items of the opponensplasty method for severe carpal tunnel syndrome. However, most of the studies used substitution evaluation methods for measurement of the pronation angle. Thus, there is still no appropriate method for measuring thumb pronation angle accurately in carpal tunnel syndrome patients.

In recent reports, a wearable gyroscope was used to evaluate upper extremity motions and it can be possibly used for accurate measurement of the thumb pronation angle along the three-dimensionally moving bone axis.

Thus, we investigated the reliability of measuring thumb pronation using a gyroscope and evaluated whether this method can be used to detect opposition impairment.

Methods

The participants were volunteers with unaffected upper limbs (32 hands) and patients with carpal tunnel syndrome (27 hands). The pronation and palmar abduction angles during opposition movements were measured using a three-axis gyroscope that included a three-axis accelerometer. The gyroscope was fixed onto the first metacarpal bone and the thumb phalanx.

Results

The pronation and palmar abduction angles of the metacarpal bone and the palmar abduction angles of the phalanx significantly decreased in the carpal tunnel syndrome group. The pronation angle of the metacarpal bone during opposition movement peaked later than the palmar abduction angle in all hands.

Conclusions

We were able to measure the thumb pronation and palmar abduction angles using the three-axis gyroscope, and this tool was able to detect impairments of thumb opposition due to carpal tunnel syndrome. This could be a tool for measuring thumb and finger angles and for detecting impairments caused by various diseases.

Thumbs up: movements made by the thumb are smoother and larger than fingers in finger-thumb opposition tasks

Background

In humans, the thumb plays a crucial role in producing finger opposition movements. These movements form the basis of several activities of the hand. Hence these movements have been used to study phenomena like prehension, motor control, motor learning, etc. Although such tasks have been studied extensively, the relative contribution of the thumb vis-à-vis the fingers in finger opposition tasks is not well understood. In this study, we investigated the kinematics of thumb and fingers in a simple finger opposition task. Further, we quantified the relative contribution and the movement smoothness aspects and compared these between fingers and thumb.

Methods

Eight, young healthy participants (four males and four females) were asked to perform a full finger to thumb opposition movement, where they were required to reach for different phalanges of the fingers. Position (X, Y and Z) of individual segments of the four fingers and the thumb were measured with reference to the wrist by a 16-sensor kinematics measurement system. Displacements and velocities were computed. An index, displacement ratio, that quantifies the relative contribution of thumb and fingers was computed from displacement data. Velocity data was used to quantify the smoothness of movement of thumb and fingers.

Results

The Displacement Ratio showed that contribution of the thumb is higher than contribution of any other target finger or target phalanges, except for the distal phalanx of the index and middle fingers. Smoothness of movement of the thumb was higher than all the finger phalanges in all cases.

Conclusion

We conclude that in the task considered (thumb opposition movements to different targets within the hand & fingers), the thumb made a greater relative contribution in terms of displacement ratio and also produced smoother movements. However, smoothness of thumb did not vary depending on the target. This suggests that the traditional notion of the thumb being a special digit when compared to other fingers is true at least for the opposition movements considered in this study.

Grip force and force sharing in two different manipulation tasks with bottles

Grip force and force sharing during two activities of daily living were analysed experimentally in 10 right-handed subjects. Four different bottles, filled to two different levels, were manipulated for two tasks: transporting and pouring. Each test subject's hand was instrumented with eight thin wearable force sensors. The grip force and force sharing were significantly different for each bottle model. Increasing the filling level resulted in an increase in grip force, but the ratio of grip force to load force was higher for lighter loads. The task influenced the force sharing but not the mean grip force. The contributions of the thumb and ring finger were higher in the pouring task, whereas the contributions of the palm and the index finger were higher in the transport task. Mean force sharing among fingers was 30% for index, 29% for middle, 22% for ring and 19% for little finger. Practitioner Summary: We analysed grip force and force sharing in two manipulation tasks with bottles: transporting and pouring. The objective was to understand the effects of the bottle features, filling level and task on the contribution of different areas of the hand to the grip force. Force sharing was different for each task and the bottles features affected to both grip force and force sharing.

Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography

We investigate the relation between grip force and grip stiffness for the human hand with and without voluntary cocontraction. Apart from gaining biomechanical insight, this issue is particularly relevant for variable-stiffness robotic systems, which can independently control the two parameters, but for which no clear methods exist to design or efficiently exploit them. Subjects were asked in one task to produce different levels of force, and stiffness was measured. As expected, this task reveals a linear coupling between force and stiffness. In a second task, subjects were then asked to additionally decouple stiffness from force at these force levels by using cocontraction. We measured the electromyogram from relevant groups of muscles and analyzed the possibility to predict stiffness and force. Optical tracking was used for avoiding wrist movements. We found that subjects were able to decouple grip stiffness from force when using cocontraction on average by about 20% of the maximum measured stiffness over all force levels, while this ability increased with the applied force. This result contradicts the force-stiffness behavior of most variable-stiffness actuators. Moreover, we found the thumb to be on average twice as stiff as the index finger and discovered that intrinsic hand muscles predominate our prediction of stiffness, but not of force. EMG activity and grip force allowed to explain 72 ± 12% of the measured variance in stiffness by simple linear regression, while only 33 ± 18% variance in force. Conclusively the high signal-to-noise ratio and the high correlation to stiffness of these muscles allow for a robust and reliable regression of stiffness, which can be used to continuously teleoperate compliance of modern robotic hands.

Changes in sensory function and force production in adults with type II diabetes

INTRODUCTION

The purpose of this study was to evaluate the relationship among sensory function, disease severity, and upper extremity force production in adults with type II diabetes (T2D) as compared with healthy age- and gender-matched controls.

METHODS

Ten adults with T2D and 10 healthy age- and gender-matched control subjects underwent a battery of sensory and motor function evaluations. Data on disease severity and duration were also collected.

RESULTS

The T2D group exhibited sensory deficits and altered force production as compared with healthy controls. Sensory function correlated with disease severity, as did signal predictability of kinetic output during submaximal force production tasks. Maximal force production tasks were associated with altered output in T2D, but these data did not correlate with disease severity or sensory dysfunction.

CONCLUSIONS

Some, not all, motor performance deficits in T2D are associated with sensory dysfunction. Mechanisms responsible for these changes in adult-onset T2D are described.

Finger-thumb coupling contributes to exaggerated thumb flexion in stroke survivors

The purpose of this study was to investigate altered finger-thumb coupling in individuals with chronic hemiparesis poststroke. First, an external device stretched finger flexor muscles by passively rotating the metacarpophalangeal (MCP) joints. Subjects then performed isometric finger or thumb force generation. Forces/torques and electromyographic signals were recorded for both the thumb and finger muscles. Stroke survivors with moderate (n = 9) and severe (n = 9) chronic hand impairment participated, along with neurologically intact individuals (n = 9). Stroke survivors exhibited strong interactions between finger and thumb flexors. The stretch reflex evoked by stretch of the finger flexors of stroke survivors led to heteronymous reflex activity in the thumb, while attempts to produce isolated voluntary finger MCP flexion torque/thumb flexion force led to increased and undesired thumb force/finger MCP torque production poststroke with a striking asymmetry between voluntary flexion and extension. Coherence between the long finger and thumb flexors estimated using intermuscular electromyographic correlations, however, was small. Coactivation of thumb and finger flexor muscles was common in stroke survivors, whether activation was evoked by passive stretch or voluntary activation. The coupling appears to arise from subcortical or spinal sources. Flexor coupling between the thumb and fingers seems to contribute to undesired thumb flexor activity after stroke and may impact rehabilitation outcomes.

Neural bases of hand synergies

The human hand has so many degrees of freedom that it may seem impossible to control. A potential solution to this problem is “synergy control” which combines dimensionality reduction with great flexibility. With applicability to a wide range of tasks, this has become a very popular concept. In this review, we describe the evolution of the modern concept using studies of kinematic and force synergies in human hand control, neurophysiology of cortical and spinal neurons, and electromyographic (EMG) activity of hand muscles. We go beyond the often purely descriptive usage of synergy by reviewing the organization of the underlying neuronal circuitry in order to propose mechanistic explanations for various observed synergy phenomena. Finally, we propose a theoretical framework to reconcile important and still debated concepts such as the definitions of “fixed” vs. “flexible” synergies and mechanisms underlying the combination of synergies for hand control.

Constraints for control of the human hand

More than 30 muscles drive the hand to perform a multitude of essential dextrous tasks. Here we consider new views on the evolution of hand structure and on peripheral and central constraints for independent control of the digits of the hand. The human hand is widely assumed to have evolved from hands like those of African apes, yet recent studies have shown that our hands and those of the earliest hominids are very similar and unlike those of living apes. Understanding the limits of hand function may come from investigation of our last common ancestor with the great apes, rather than the great apes themselves. In the periphery, movement across the full range of joint space can be limited by mechanical linkages among the extrinsic muscles. Further, peripheral limits occur when the hand adopts some positions in which the contraction of muscles fails to move the joints on which they usually act; there is muscle 'disengagement' and functional paralysis for some actions. Surprisingly, the central nervous system drives the hand seamlessly through this landscape of mechanical limits. Central constraints on control of the individual digits include the spillover of neural drive to neighbouring muscles and their 'compartments', and the inability to make maximal muscle forces when multiple digits contract strongly which produces a force deficit. The pattern of these latter constraints correlates with amounts of daily use of each digit and favours enslaved extension to lift fingers from an object but selective flexion of fingers to contact it.

An attentional approach to study mental representations of different parts of the hand

The aim of this study is to investigate whether the fingers are represented separately from the palm. An exogenous spatial orientation paradigm was used where participants had to detect a tactile stimulus that could appear on the palm, the middle finger or the ring finger of the left hand. The tactile target was preceded by a non-predictive cue using different stimulus-onset asynchronies (SOA). We observed a Facilitation Effect in the palm and inhibition of return (IOR) for fingers using a short cue-target SOA, whereas the IOR was found in fingers and palm in long cue-target SOA. Also we observed a 'Cue above Target' effect (facilitation effect when the Cue had appeared distal to the target location in a vertical line) at the long SOA. Together, we suggest that the general pattern of results supports the proposed hypothesis about the different mental representation of fingers and palms, but with a considerable and hierarchical interrelation between them.

Limits to the Control of the Human Thumb and Fingers in Flexion and Extension

In humans, hand performance has evolved from a crude multidigit grasp to skilled individuated finger movements. However, control of the fingers is not completely independent. Although musculotendinous factors can limit independent movements, constraints in supraspinal control are more important. Most previous studies examined either flexion or extension of the digits. We studied differences in voluntary force production by the five digits, in both flexion and extension tasks. Eleven healthy subjects were instructed either to maximally flex or extend their digits, in all single- and multidigit combinations. They received visual feedback of total force produced by “instructed” digits and had to ignore “noninstructed” digits. Despite attempts to maximally flex or extend instructed digits, subjects rarely generated their “maximal” force, resulting in a “force deficit,” and produced forces with noninstructed digits (“enslavement”). Subjects performed differently in flexion and extension tasks. Enslavement was greater in extension than in flexion tasks ( P = 0.019), whereas the force deficit in multidigit tasks was smaller in extension ( P = 0.035). The difference between flexion and extension in the relationships between the enslavement and force deficit suggests a difference in balance of spillover of neural drive to agonists acting on neighboring digits and focal neural drive to antagonist muscles. An increase in drive to antagonists would lead to more individualized movements. The pattern of force production matches the daily use of the digits. These results reveal a neural control system that preferentially lifts fingers together by extension but allows an individual digit to flex so that the finger pads can explore and grasp.

Limited ability to extend the digits of the human hand independently with extensor digitorum

While the human hand has an extraordinary capacity to manipulate objects, movement of its digits is usually not completely independent. These limits have been documented for extrinsic flexor muscles, although hand skills also require selectivity for extension movements. Hence, we measured the degree of independent control of the major extrinsic extensor (extensor digitorum, ED). Subjects grasped a cylinder, with the thumb perpendicular to the fingers. Load cells were connected to the proximal phalanges of the fingers and the thumb's distal phalanx. Intramuscular recordings using needle electrodes were made from the individual digital compartments of ED. Subjects were instructed to extend each digit isometrically in a voluntary ramp contraction to 50% maximal force. In total, the behaviour of 283 single motor units was analysed. More than half of the units associated with one 'test' finger were recruited inadvertently when another digit contracted to 50% maximum, with most units being recruited by extension of the adjacent digits. Usually, test motor units were recruited at higher forces by extension of fingers further from the test finger. Unexpectedly, extension of the thumb recruited many motor units acting on the little finger. Across tasks, at recruitment of the test motor units, the force produced by the test finger often differed between the voluntary and inadvertent contractions. Overall, the independent control of the output of ED is limited; this may reflect 'spill-over' of motor commands to other digital extensor compartments. This level of control of the extrinsic extensor muscles is more independent than the control of the deep extrinsic flexor muscle but less independent than that of the superficial extrinsic flexor muscle.

Kinetic analysis of the thumb in jar-opening activity among female adults

Jar opening is commonly viewed as a challenging task for female adults in daily living. The thumb plays a particular role in grasping the jar lid and leading the turning activity through opposition to the other digits. This study measured and compared the force, torque and torque contribution of the thumb in the activity under ordinary grasp patterns and jar-holding positions. A steel jar-like cylinder was custom made to measure the force and torque generated simultaneously by thumb and wrist. Sixteen young females without a history of hand injury were recruited as subjects. The force and torque of the thumb were found to be influenced significantly only by the grasp pattern but its torque contribution was significantly affected only by the jar-holding position. However, overall torque was influenced by both the grasp pattern and the jar-holding position. The torque contribution of the thumb under the four different grasp patterns and jar-holding positions was found to range from 17.4% to 23.9%. The contribution ratios suggest that the thumb may offer a force equivalent to the other digits rather than just a counter force in this activity.

Multi-digit maximum voluntary torque production on a circular object

Individual digit-tip forces and moments during torque production on a mechanically fixed circular object were studied. During the experiments, subjects positioned each digit on a 6-dimensional force/moment sensor attached to a circular handle and produced a maximum voluntary torque on the handle. The torque direction and the orientation of the torque axis were varied. From this study, it is concluded that: (1) the maximum torque in the closing (clockwise) direction was larger than in the opening (counter clockwise) direction; (2) the thumb and little finger had the largest and the smallest share of both total normal force and total moment, respectively; (3) the sharing of total moment between individual digits was not affected by the orientation of the torque axis or by the torque direction, while the sharing of total normal force between the individual digit varied with torque direction; (4) the normal force safety margins were largest and smallest in the thumb and little finger, respectively.

Prehension synergies: principle of superposition and hierarchical organization in circular object prehension

This study tests the following hypotheses in multi-digit circular object prehension: the principle of superposition (i.e., a complex action can be decomposed into independently controlled sub-actions) and the hierarchical organization (i.e., individual fingers at the lower level are coordinated to generate a desired task-specific outcome of the virtual finger at the higher level). Subjects performed 25 trials while statically holding a circular handle instrumented with five six-component force/moment sensors under seven external torque conditions. We performed a principal component (PC) analysis on forces and moments of the thumb and virtual finger (VF: an imagined finger producing the same mechanical effects of all finger forces and moments combined) to test the applicability of the principle of superposition in a circular object prehension. The synergy indices, measuring synergic actions of the individual finger (IF) moments for the stabilization of the VF moment, were calculated to test the hierarchical organization. Mixed-effect ANOVAs were used to test the dependent variable differences for different external torque conditions and different fingers at the VF and IF levels. The PC analysis showed that the elemental variables were decoupled into two groups: one group related to grasping stability control (normal force control) and the other group associated with rotational equilibrium control (tangential force control), which supports the principle of superposition. The synergy indices were always positive, suggesting error compensations between IF moments for the VF moment stabilization, which confirms the hierarchical organization of multi-digit prehension.

A device for testing the intrinsic muscles of the hand

Testing intrinsic function in the past has been primarily via coordination tests such as the Minnesota Rate of Manipulation Tests, Purdue Pegboard Test, Valpar Work Sample, The Crawford, to name a few. Typically as therapists we will use exercise putty and various techniques in the clinic to strengthen these important functional muscles of the hand. However, measuring the strength of these muscles has been very limited and time-consuming. This author has devised an instrument to test the strength of these muscles. Although, there are studies that need to be done to test the validity of the piece of equipment, it would appear to have great use clinically and could possibly have significant potential in recording objective data for research purposes.

Adjustments of prehension synergies in response to self-triggered and experimenter-triggered load and torque perturbations

Humans are known to show anticipatory adjustments in the grip force prior to a self-generated or predictable action or perturbation applied to a hand-held object. We investigated whether humans can also adjust covariation of individual finger forces (multi-finger synergies) prior to self-triggered perturbations. To address this issue, we studied adjustments in multi-digit synergies associated with applied load/torque perturbations while the subjects held a customized handle steadily. The main hypothesis was that the subjects would be able to demonstrate the phenomenon of anticipatory covariation, that is changes in covariation patterns among digit forces and moments of force in anticipation of a perturbation, but only when the perturbation was triggered by the subjects themselves. Based on the principle of superposition (decoupled grasping force and resultant torque control), we also expected to see different adjustments in indices of multi-digit synergies stabilizing the total gripping force and the total moment of force. The task for the subjects (n = 8) was to return the initial handle position as quickly as possible after a perturbation, which consisted of removing one of three loads hanging from the handle. There were six experimental conditions: two types of perturbations (self-triggered and experimenter-triggered) by three positions of the load (left, center, and right). Three-dimensional forces and moments of force recorded from each digit contact were used for the analysis. Indices of covariation among digit forces and among moments of force, previously employed for studying motor synergies, were computed across trials. Positive values of the indices reflected negative covariations of individual digit forces and moments of force (their inter-compensatory changes) to stabilize the total force and moment acting on the handle. In steady-state conditions, subjects showed strong positive indices for both digit forces and digit moments. Under the self-triggered conditions, changes in the indices of digit force and moment covariation were seen about 150 ms prior to the perturbation, while such changes were observed only after the perturbation under the experimenter-triggered conditions. Immediately following a perturbation, the indices of force and moment covariation rapidly changed to negative revealing the lack of inter-compensation among the individual digit forces and moments. Later, both indices showed a recovery to positive values; the recovery was faster in the self-triggered conditions than in the experimenter-triggered ones. During the steady-state phase after the perturbation, the indices of force and moment covariation decreased and increased, respectively, as compared to their values during the steady-state phase prior to the perturbation. We conclude that humans are able to adjust multi-digit synergies involved in prehensile tasks in anticipation of a self-triggered perturbation. These conclusions speak against hypotheses on the organization of multi-element actions based on optimal control principles. Different changes in the indices of force and moment covariation after a perturbation corroborate the principle of superposition. We discuss relations of anticipatory covariation to anticipatory postural adjustments.

Finger synergies during multi-finger cyclic production of moment of force

We investigated multi-finger synergies stabilizing the total moment of force and the total force when the subjects produced a quick cyclic change in the total moment of force. The seated subjects performed the task with the fingers of the dominant arm while paced by the metronome at 1.33 Hz. They were required to produce a rhythmic, sine-like change in the total pronation-supination moment of force computed with respect to the midpoint between the middle and ring fingers. The framework of the uncontrolled manifold hypothesis was used to compute indices of stabilization of the total moment and of the total force across 20 cycles. Variance of the total moment showed a cyclic pattern with peaks close to the peak rate of the moment change. Variance of the total force was maximal close to peak moment into supination. Higher magnitudes of the moment directed against the required moment direction (antagonist moment) were produced by individual fingers during supination efforts as compared to pronation efforts. Indices of multi-finger synergies showed across-trials stabilization of the total moment over the whole cycle but not of the total force. These indices were smaller during supination efforts. We conclude that the central nervous system facilitates multi-finger synergies stabilizing the total rotational action across a variety of tasks. Synergies stabilizing the total force are not seen in tasks that do not explicitly require accurate force control. Pronation efforts are performed more efficiently and with better stabilization of the action.

Accurate production of time-varying patterns of the moment of force in multi-finger tasks

We investigated the production of time profiles of the total moment of force produced in isometric conditions by the four fingers of a hand. We hypothesized that these tasks would be associated with multi-finger synergies stabilizing the time profile of the total moment across trials but not necessarily stabilizing the time profile of the total force produced by the fingers. We also expected the multi-finger synergies to prevent an increase in the moment variability with its magnitude. Seated subjects pressed on force sensors with the four fingers of the right hand and produced two time profiles of the total moment of force, starting from a certain pronation effort, leading to a similar supination effort, and back to the initial pronation effort. One of the profiles was a sequence of straight lines (M-Ramp) while the other was a smooth curve (M-Sine). The subjects showed an increase in the total force during each task. This was accompanied by an increase in the force produced by the fingers opposing the required direction of the total moment-antagonist fingers. Variability of the total force and of the total moment showed complex, non-monotonic changes with the magnitude of the force and moment, respectively. In both tasks, the subjects showed patterns of co-variation of commands to fingers that stabilized the required moment profile over trials. The time profile of the total force was stabilized to a lesser degree or not stabilized at all. The share of fingers with larger moment arms (index finger for pronation efforts and little finger for supination efforts) was higher when the fingers acted to produce moments in a required direction but not necessarily when they acted as antagonists. The results demonstrate the existence of multi-finger synergies stabilizing the combined rotational action. They fit a hypothesis that stabilization of rotational actions may be a default strategy conditioned by everyday experience. The data also suggest that the mechanical advantage hypothesis is valid for sets of effectors that act in the required direction but not for sets of effectors that act as antagonists.

The emergence and disappearance of multi-digit synergies during force-production tasks

We analyzed patterns of covariation among forces produced by the five digits of the human hand during tasks that required the production of a pattern of the total force consisting of ramp-up, constant force, and ramp-down segments with the time of the ramps ranging from 0 to 3000 ms. Patterns of the variance of the total force and the sum of the variances of individual digit forces were compared over sets of 12 trials at each task. The initiation of the ramp-up segment was associated with positive covariation of digit forces. Negative covariation among digit forces (force-stabilizing synergies) emerged after a critical time of 600-800 ms, which was only weakly dependent on the ramp time. These synergies persisted over the steady-state phase. A quantitative index of digit force covariation was introduced; it showed a drop about 100 ms before initiation of the ramp-down phase; we termed this phenomenon "anticipatory covariation" (ACV). The ramp-down phase was associated with rapid disappearance of the force-stabilizing synergy over a time period that ranged from 0 to 600 ms and scaled strongly with the duration of the force ramp. Thumb-virtual finger synergies showed qualitatively similar behavior to the multi-finger synergies (virtual finger is an imagined digit whose action is mechanically equivalent to the action of the four fingers). We conclude that abrupt changes in a time profile of total force are associated with transient destabilization of the total force. Changes in force-stabilizing synergies may occur in preparation to changes in the total force.