Motor control goes beyond physics: differential effects of gravity and inertia on finger forces during manipulation of hand-held objects

Decoupled Control of Grasp and Rotation Constraints During Prehension of Weightless Objects

Gravity provides critical information for the adjustment of body movement or manipulation of the handheld object. Indeed, the changes in gravity modify the mechanical constraints of prehensile actions, which may be accompanied by the changes in control strategies. The current study examined the effect of the gravitational force of a handheld object on the control strategies for subactions of multidigit prehension. A total of eight subjects performed prehensile tasks while grasping and lifting the handle by about 250 mm along the vertical direction. The experiment consisted of two conditions: lifting gravity-induced (1g) and weightless (0g) handheld objects. The weightless object condition was implemented utilizing a robot arm that produced a constant antigravitational force of the handle. The current analysis was limited to the two-dimensional grasping plane, and the notion of the virtual finger was employed to formulate the cause–effect chain of elemental variables during the prehensile action. The results of correlation analyses confirmed that decoupled organization of two subsets of mechanical variables was observed in both 1g and 0g conditions. While lifting the handle, the two subsets of variables were assumed to contribute to the grasping and rotational equilibrium, respectively. Notably, the normal forces of the thumb and virtual finger had strong positive correlations. In contrast, the normal forces had no significant relationship with the variables as to the moment of force. We conclude that the gravitational force had no detrimental effect on adjustments of the mechanical variables for the rotational action and its decoupling from the grasping equilibrium.

The Effect of Variability in Stiffness on Perception and Grip Force Adjustment

Haptic information can be used to create our perception of the stiffness of objects and to regulate grip force. Introducing noise into sensory inputs can create uncertainty, yet a method of creating haptic uncertainty without distorting the haptic information has yet to be discovered. Toward this end, in this article, we investigated the effect of varying haptic information between consecutive interactions with an elastic force field on stiffness perception and grip force control. In a stiffness discrimination task, participants interacted with force fields multiple times. Low, medium, and high variability levels were created by drawing the stiffness level applied in each consecutive interaction within a trial from normal distributions. Perceptual haptic uncertainty was created only by the medium variability level. Moreover, all the variability levels affected the grip force control: the modulation of the grip force with the load force decreased with repeated interactions with the force field, whereas no change in the baseline grip force was observed. Additionally, we ascertained that participants formed their perceived stiffness by calculating a weighted average of the different stiffness levels applied by a given force field. We conclude that the medium variability level can be effective in inducing uncertainty in both perception and action.

Distinct adaptation patterns between grip dynamics and arm kinematics when the body is upside-down

In humans, practically all movements are learnt and performed in a constant gravitational field. Yet, studies on arm movements and object manipulation in parabolic flight have highlighted very fast sensorimotor adaptations to altered gravity environments. Here, we wondered if the motor adjustments observed in those altered gravity environments could also be observed on Earth in a situation where the body is upside-down. To address this question, we asked participants to perform rhythmic arm movements in two different body postures (right-side-up and upside-down) while holding an object in precision grip. Analyses of grip-load force coordination and of movement kinematics revealed distinct adaptation patterns between grip and arm control. Grip force and load force were tightly synchronized from the first movements performed in upside-down posture, reflecting a malleable allocentric grip control. In contrast, velocity profiles showed a more progressive adaptation to the upside-down posture and reflected an egocentric planning of arm kinematics. In addition to suggesting distinct mechanisms between grip dynamics and arm kinematics for adaptation to novel contexts, these results also suggest the existence of general mechanisms underlying gravity-dependent motor adaptation that can be used for fast sensorimotor coordination across different postures on Earth and, incidentally, across different gravitational conditions in parabolic flights, in human centrifuges, or in Space.NEW & NOTEWORTHY During rhythmic arm movements performed in an upside-down posture, grip control adapted very quickly, but kinematics adaptation was more progressive. Our results suggest that grip control and movement kinematics planning might operate in different reference frames. Moreover, by comparing our results with previous results from parabolic flight studies, we propose that a common mechanism underlies adaptation to unfamiliar body postures and adaptation to altered gravity.

Efference copy in kinesthetic perception: a copy of what is it?

A number of notions in the fields of motor control and kinesthetic perception have been used without clear definitions. In this review, we consider definitions for efference copy, percept, and sense of effort based on recent studies within the physical approach, which assumes that the neural control of movement is based on principles of parametric control and involves defining time-varying profiles of spatial referent coordinates for the effectors. The apparent redundancy in both motor and perceptual processes is reconsidered based on the principle of abundance. Abundance of efferent and afferent signals is viewed as the means of stabilizing both salient action characteristics and salient percepts formalized as stable manifolds in high-dimensional spaces of relevant elemental variables. This theoretical scheme has led recently to a number of novel predictions and findings. These include, in particular, lower accuracy in perception of variables produced by elements involved in a multielement task compared with the same elements in single-element tasks, dissociation between motor and perceptual effects of muscle coactivation, force illusions induced by muscle vibration, and errors in perception of unintentional drifts in performance. Taken together, these results suggest that participation of efferent signals in perception frequently involves distorted copies of actual neural commands, particularly those to antagonist muscles. Sense of effort is associated with such distorted efferent signals. Distortions in efference copy happen spontaneously and can also be caused by changes in sensory signals, e.g., those produced by muscle vibration.

Visual Feedback of Object Motion Direction Influences the Timing of Grip Force Modulation During Object Manipulation

During manipulation, object slipping is prevented by modulating the grip force (GF) in synchrony with motion-related inertial forces, i.e., load force (LF). However, due to conduction delays of the sensory system, GF must be modulated in advance based on predictions of LF changes. It has been proposed that such predictive force control relies on internal representations, i.e., internal models, of the relation between the dynamic of the environment and movement kinematics. Somatosensory and visual feedback plays a primary role in building these internal representations. For instance, it has been shown that manipulation-dependent somatosensory signals contribute to building internal representations of gravity in normal and altered gravitational contexts. Furthermore, delaying the timing of visual feedback of object displacement has been shown to affect GF. Here, we explored whether and the extent to which spatial features of visual feedback movement, such as motion direction, may contribute to GF control. If this were the case, a spatial mismatch between actual (somatosensory) and visual feedback of object motion would elicit changes in GF modulation. We tested this hypothesis by asking participants to generate vertical object movements while visual feedback of object position was congruent (0° rotation) or incongruent (180° or 90°) with the actual object displacement. The role of vision on GF control was quantified by the temporal shift of GF modulation as a function of visual feedback orientation and actual object motion direction. GF control was affected by visual feedback when this was incongruent in the vertical (180°), but not horizontal dimension. Importantly, 180° visual feedback rotation delayed and anticipated GF modulation during upward and downward actual movements, respectively. Our findings suggest that during manipulation, spatial features of visual feedback motion are used to predict upcoming LF changes. Furthermore, the present study provides evidence that an internal model of gravity contributes to GF control by influencing sensory reweighting processes during object manipulation.

Muscle synergy for upper limb damping behavior during object transport while walking in healthy young individuals

Transporting an object during locomotion is one of the most common activities humans perform. Previous studies have shown that continuous and predictive control of grip force, along with the inertial load force of the object, is required to complete this task successfully. Another possible CNS strategy to ensure the dynamic stability of the upper limb is to modify the apparent stiffness and damping via altered muscle activation patterns. In this study, the term damping was used to describe a reduction in upper limb vertical oscillation amplitude to maintain the orientation of the hand-held object. The goal of this study was to identify the neuromuscular strategy for controlling the upper limb during object transport while walking. Three-dimensional kinematic and surface electromyography (EMG) data were recorded from eight, right-handed, healthy young adults who were instructed to walk on a treadmill while carrying an object in their dominant/non-dominant hand, with dominant/non-dominant arm positioning but without an object, and without any object or instructed arm-positioning. EMG recordings from the dominant and non-dominant arms were decomposed separately into underlying muscle synergies using non-negative matrix factorization (NNMF). Results revealed that the dominant arm showed higher damping compared to the non-dominant arm. All muscles showed higher mean levels of activation during object transport except for posterior deltoid (PD), with activation peaks occurring around or slightly before heel contact. The muscle synergy analysis revealed an anticipatory stabilization of the shoulder and elbow joints through a proximal-to-distal muscle activation pattern. These activations appear to play an essential role in maintaining the stability of the carried object in addition to the adjustment of grip force against the perturbations caused by heel contact during walking.

Flexible organization of grip force control during movement frequency scaling

The grip force applied to maintain grasp of a handheld object has been typically reported as tightly coupled to the load force exerted by the object as it is actively manipulated, occurring proportionally and consistently in phase with changes in load force. However, continuous grip force-load force coupling breaks down when overall load force levels and oscillation amplitudes are lower (Grover F, Lamb M, Bonnette S, Silva PL, Lorenz T, Riley MA. Exp Brain Res 236: 2531–2544, 2018) or more predictable (Grover FM, Nalepka P, Silva PL, Lorenz T, Riley MA. Exp Brain Res 237: 687–703, 2019). Under these circumstances, grip force is instead only intermittently coupled to load force; continuous coupling is prompted only when load force levels or variations become sufficiently high or unpredictable. The current study investigated the nature of the transition between continuous and intermittent modes of grip force control by scaling the load force level and the oscillation amplitude continuously in time by means of scaling the required frequency of movement oscillations. Participants grasped a cylindrical object between the thumb and forefinger and oscillated their arm about the shoulder in the sagittal plane. Oscillation frequencies were paced with a metronome that scaled through an ascending or descending frequency progression. Due to greater accelerations, faster frequencies produced greater overall load force levels and more pronounced load oscillations. We observed smooth but nonlinear transitions between clear regimes of intermittent and continuous grip force-load force coordination, for both scaling directions, indicating that grip force control can flexibly reorganize as parameters affecting grasp (e.g., variations in load force) change over time.

NEW & NOTEWORTHY Grip force (GF) is synchronously coupled to changing load forces (LF) during object manipulation when LF levels are high or unpredictable, but only intermittently coupled to LF during less challenging grasp conditions. This study characterized the nature of transitions between synchronous and intermittent GF-LF coupling, revealing a smooth but nonlinear change in intermittent GF modulation in response to continuous scaling of LF amplitude. Intermittent, “drift-and-act” control may provide an alternative framework for understanding GF-LF coupling.

Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system

In the first step, a 1-DOF power-assist robotic system (PARS) is developed for lifting lightweight objects. Dynamics for human–robot co-manipulation of objects is derived that considers human cognition (weight perception). Then, admittance control with position feedback and velocity controller is derived using weight perception-based dynamics. Human subjects lift an object with the PARS, and HRI (human–robot interaction) and system characteristics are analyzed. A comprehensive scheme is developed to evaluate the HRI and performance. HRI is expressed in terms of physical HRI (maneuverability, motion, safety, stability, naturalness) and cognitive HRI (workload, trust), and performance is expressed in terms of manipulation efficiency and precision. To follow the guidance of ISO/TS 15066, hazard analysis and risk assessment are conducted. A constrained optimization algorithm is proposed to determine the values of the control parameters that produce optimum HRI and performance with lowest risk. Results show that consideration of weight perception in dynamics and control helps achieve optimum HRI and performance for a set of hard constraints. In the second step, a weight perception-based novel variable admittance control scheme is proposed as an active compliance to the system, which enhances the physical HRI, trust, precision and efficiency by 53.05%, 46.78%, 3.84% and 4.98%, respectively, and reduces workload by 35.38% and thus helps achieve optimum HRI and performance for a set of soft constraints. The risk reduces due to the active compliance. Then, effectiveness of the optimization and control algorithms is validated using a multi-DOF PARS for manipulating heavy objects, and intuitive and natural HRI and performance for power-assisted heavy object manipulation are achieved through calibrating HRI and performance with that for manipulation of lightweight object.

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.

Coherent Multimodal Sensory Information Allows Switching between Gravitoinertial Contexts

Whether the central nervous system is capable to switch between contexts critically depends on experimental details. Motor control studies regularly adopt robotic devices to perturb the dynamics of a certain task. Other approaches investigate motor control by altering the gravitoinertial context itself as in parabolic flights and human centrifuges. In contrast to conventional robotic experiments, where only the hand is perturbed, these gravitoinertial or immersive settings coherently plunge participants into new environments. However, radically different they are, perfect adaptation of motor responses are commonly reported. In object manipulation tasks, this translates into a good matching of the grasping force or grip force to the destabilizing load force. One possible bias in these protocols is the predictability of the forthcoming dynamics. Here we test whether the successful switching and adaptation processes observed in immersive environments are a consequence of the fact that participants can predict the perturbation schedule. We used a short arm human centrifuge to decouple the effects of space and time on the dynamics of an object manipulation task by adding an unnatural explicit position-dependent force. We created different dynamical contexts by asking 20 participants to move the object at three different paces. These contextual sessions were interleaved such that we could simulate concurrent learning. We assessed adaptation by measuring how grip force was adjusted to this unnatural load force. We found that the motor system can switch between new unusual dynamical contexts, as reported by surprisingly well-adjusted grip forces, and that this capacity is not a mere consequence of the ability to predict the time course of the upcoming dynamics. We posit that a coherent flow of multimodal sensory information born in a homogeneous milieu allows switching between dynamical contexts.

The synergic control of multi-finger force production: stability of explicit and implicit task components

Manipulating objects with the hands requires the accurate production of resultant forces including shear forces; effective control of these shear forces also requires the production of internal forces normal to the surface of the object(s) being manipulated. In the present study, we investigated multi-finger synergies stabilizing shear and normal components of force, as well as drifts in both components of force, during isometric pressing tasks requiring a specific magnitude of shear force production. We hypothesized that shear and normal forces would evolve similarly in time and also show similar stability properties as assessed by the decomposition of inter-trial variance within the uncontrolled manifold hypothesis. Healthy subjects were required to accurately produce total shear and total normal forces with four fingers of the hand during a steady-state force task (with and without visual feedback) and a self-paced force pulse task. The two force components showed similar time profiles during both shear force pulse production and unintentional drift induced by turning the visual feedback off. Only the explicitly instructed components of force, however, were stabilized with multi-finger synergies. No force-stabilizing synergies and no anticipatory synergy adjustments were seen for the normal force in shear force production trials. These unexpected qualitative differences in the control of the two force components-which are produced by some of the same muscles and show high degree of temporal coupling-are interpreted within the theory of control with referent coordinates for salient variables. These observations suggest the existence of two classes of neural variables: one that translates into shifts of referent coordinates and defines changes in magnitude of salient variables, and the other controlling gains in back-coupling loops that define stability of the salient variables. Only the former are shared between the explicit and implicit task components.

Moving a hand-held object: Reconstruction of referent coordinate and apparent stiffness trajectories

This study used the framework of the referent configuration hypothesis and slow changes in the external conditions during vertical oscillation of a hand-held object to infer the characteristics of hypothetical control variables. The study had two main objectives: (1) to show that hypothetical control variables, namely, referent coordinates and apparent stiffness of vertical hand position and grip force can be measured in an experiment; and (2) to establish relation(s) between these control variables that yield the classic grip-force-load-force coupling. Healthy subjects gripped a handle and performed vertical oscillations between visual targets at one of five metronome-prescribed frequencies. A HapticMaster robot was used to induce slow changes in the vertical force applied to the handle, while the size of the handle was changed slowly leading to changes in the grip aperture. The subjects were instructed not to react to possible changes in the external forces. A linear, second-order model was used to reconstruct the referent coordinate and apparent stiffness values for each phase of the vertical oscillation cycle using across-cycle regressions. The reconstructed time profiles of the referent coordinates and apparent stiffness showed consistent trends across subjects and movement frequencies. To validate the method, these values were used to predict the vertical force and the grip force applied to the handle for movement cycles that were not utilized in the reconstruction process. Analysis of the coupling between the four variables, two referent coordinates and two apparent stiffness values, revealed a single strong constraint reflecting the coupling between the grip force and vertical force. We view these data as providing experimental support for the idea of controlling natural, multi-muscle actions with shifts in a low-dimensional set of referent coordinates.

The brain adjusts grip forces differently according to gravity and inertia: a parabolic flight experiment

In everyday life, one of the most frequent activities involves accelerating and decelerating an object held in precision grip. In many contexts, humans scale and synchronize their grip force (GF), normal to the finger/object contact, in anticipation of the expected tangential load force (LF), resulting from the combination of the gravitational and the inertial forces. In many contexts, GF and LF are linearly coupled. A few studies have examined how we adjust the parameters–gain and offset–of this linear relationship. However, the question remains open as to how the brain adjusts GF regardless of whether LF is generated by different combinations of weight and inertia. Here, we designed conditions to generate equivalent magnitudes of LF by independently varying mass and movement frequency. In a control experiment, we directly manipulated gravity in parabolic flights, while other factors remained constant. We show with a simple computational approach that, to adjust GF, the brain is sensitive to how LFs are produced at the fingertips. This provides clear evidence that the analysis of the origin of LF is performed centrally, and not only at the periphery.

Prediction of muscle activity during loaded movements of the upper limb

Background

Accurate prediction of electromyographic (EMG) signals associated with a variety of motor behaviors could, in theory, serve as activity templates needed to evoke movements in paralyzed individuals using functional electrical stimulation. Such predictions should encompass complex multi-joint movements and include interactions with objects in the environment.

Methods

Here we tested the ability of different artificial neural networks (ANNs) to predict EMG activities of 12 arm muscles while human subjects made free movements of the arm or grasped and moved objects of different weights and dimensions. Inputs to the trained ANNs included hand position, hand orientation, and thumb grip force.

Results

The ability of ANNs to predict EMG was equally as good for tasks involving interactions with external loads as for unloaded movements. The ANN that yielded the best predictions was a feed-forward network consisting of a single hidden layer of 30 neural elements. For this network, the average coefficient of determination (R² value) between predicted and actual EMG signals across all nine subjects and 12 muscles during movements that involved episodes of moving objects was 0.43.

Conclusion

This reasonable accuracy suggests that ANNs could be used to provide an initial estimate of the complex patterns of muscle stimulation needed to produce a wide array of movements, including those involving object interaction, in paralyzed individuals.

Perceptual and motor learning underlies human stick-balancing skill

We investigated the acquisition of skill in balancing a stick (52 cm, 34 g) on the fingertip in nine participants using three-dimensional motion analysis. After 3.5 h of practice over 6 wk, the participants could more consistently balance the stick for longer durations with greatly reduced magnitude and speed of stick and finger movements. Irrespective of level of skill, the balanced stick behaved like a normal noninverted pendulum oscillating under greater-than-gravity torque with simple harmonic motion about a virtual pivot located at the radius of gyration above the center of mass. The control input parameter was the magnitude ratio between the torque applied on the stick by the participant and the torque due to gravity. The participants utilized only a narrow range of this parameter, which did not change with practice, to rotate the stick like a linear mass-spring system. With increased skill, the stick therefore maintained the same period of oscillation but showed marked reductions in magnitude of both oscillation and horizontal translation. Better balancing was associated with 1) more accurate visual localization of the stick and proprioceptive localization of the finger and 2) reduced cross-coupling errors between finger and stick movements in orthogonal directions; i.e., finger movements in the anteroposterior plane became less coupled with stick tip movements in the mediolateral plane, and vice versa. Development of this fine motor skill therefore depended on perceptual and motor learning to provide improved estimation of sensorimotor state and precision of motor commands to an unchanging internal model of the rotational dynamics.

Visuomotor processing and hand force coordination in dyslexic children during a visually guided manipulation task

Developmental Dyslexia negatively affects children's reading and writing ability and, in most cases, performance in sensorimotor tasks. These deficits have been associated with structural and functional alterations in the cerebellum and the posterior parietal cortex (PPC). Both neural structures are active during visually guided force control and in the coordination of load force (LF) and grip force (GF) during manipulation tasks. Surprisingly, both phenomena have not been investigated in dyslexic children. Therefore, the aim of this study was to compare dyslexic and non-dyslexic children regarding their visuomotor processing ability and GF-LF coordination during a static manipulation task. Thirteen dyslexic (8-14 YO) and 13 age- and sex-matched non-dyslexic (control) children participated in the study. They were asked to grasp a fixed instrumented handle using the tip of all digits and pull the handle upward exerting isometric force to match a ramp-and-hold force profile displayed in a computer monitor. Task performance (i.e., visuomotor coordination) was assessed by RMSE calculated in both ramp and hold phases. GF-LF coordination was assessed by the ratio between GF and LF (GF/LF) calculated at both phases and the maximum value of a cross-correlation function (rmax) and its respective time lag calculated at ramp phase. The results revealed that the RMSE at both phases was larger in dyslexic than in control children. However, we found that GF/LF, rmax, and time lags were similar between groups. Those findings indicate that dyslexic children have a mild deficit in visuomotor processing but preserved GF-LF coordination. Altogether, these findings suggested that dyslexic children could present mild structural and functional alterations in specific PPC or cerebellum areas that are directly related to visuomotor processing.

Task dependency of grip stiffness--a study of human grip force and grip stiffness dependency during two different tasks with same grip forces

It is widely known that the pinch-grip forces of the human hand are linearly related to the weight of the grasped object. Less is known about the relationship between grip force and grip stiffness. We set out to determine variations to these dependencies in different tasks with and without visual feedback. In two different settings, subjects were asked to (a) grasp and hold a stiffness-measuring manipulandum with a predefined grip force, differing from experiment to experiment, or (b) grasp and hold this manipulandum of which we varied the weight between trials in a more natural task. Both situations led to grip forces in comparable ranges. As the measured grip stiffness is the result of muscle and tendon properties, and since muscle/tendon stiffness increases more-or-less linearly as a function of muscle force, we found, as might be predicted, a linear relationship between grip force and grip stiffness. However, the measured stiffness ranges and the increase of stiffness with grip force varied significantly between the two tasks. Furthermore, we found a strong correlation between regression slope and mean stiffness for the force task which we ascribe to a force stiffness curve going through the origin. Based on a biomechanical model, we attributed the difference between both tasks to changes in wrist configuration, rather than to changes in cocontraction. In a new set of experiments where we prevent the wrist from moving by fixing it and resting it on a pedestal, we found subjects exhibiting similar stiffness/force characteristics in both tasks.

Grip-force modulation in multi-finger prehension during wrist flexion and extension

Extrinsic digit muscles contribute to both fingertip forces and wrist movements (FDP and FPL-flexion, EDC-extension). Hence, it is expected that finger forces depend on the wrist movement and position. We investigated the relation between grip force and wrist kinematics to examine whether and how the force (1) scales with wrist flexion-extension (FE) angle and (2) can be predicted from accelerations induced during FE movement. In one experiment, subjects naturally held an instrumented handle using a prismatic grasp and performed very slow FE movements. In another experiment, the same movement was performed cyclically at three prescribed frequencies. In quasistatic conditions, the grip force remained constant over the majority of the wrist range of motion. During the cyclic movements, the grip force changed. The changes were described with a linear regression model that represents the thumb and virtual finger (VF = four fingers combined) normal forces as the sum of the effects of the object's tangential and radial accelerations and an object-weight-dependent constant term. The model explained 99 % of the variability in the data. The independence of the grip force from wrist position agrees with the theory that the thumb and VF forces are controlled with two neural variables that encode referent coordinates for each digit while accounting for changes in the position dependence of muscle forces, rather than a single neural variable like referent aperture. The results of the cyclical movement study extend the principle of superposition (some complex actions can be decomposed into independently controlled elemental actions) for a motor task involving simultaneous grip-force exertion and wrist motion with significant length changes of the grip-force-producing muscles.

Grip and load force coordination in cyclical isometric manipulation task is not affected by the feedback type

Background

The relationship between normal and tangential force components (grip force – GF and load force – LF, respectively) acting on the digits-object interface during object manipulation reveals neural mechanisms involved in movement control. Here, we examined whether the feedback type provided to the participants during exertion of LF would influence GF-LF coordination and task performance.

Methods

Sixteen young (24.7 ±3.8 years-old) volunteers isometrically exerted continuously sinusoidal F_Z (vertical component of LF) by pulling a fixed instrumented handle up and relaxing under two feedback conditions: targeting and tracking. In targeting condition, F_Z exertion range was determined by horizontal lines representing the upper (10 N) and lower (1 N) targets, with frequency (0.77 or 1.53 Hz) dictated by a metronome. In tracking condition, a sinusoidal template set at similar frequencies and range was presented and should be superposed by the participants’ exerted F_Z. Task performance was assessed by absolute errors at peaks (AE_Peak) and valleys (AE_Valley) and GF-LF coordination by GF-LF ratios, maximum cross-correlation coefficients (r_max), and time lags.

Results

The results revealed no effect of feedback and no feedback by frequency interaction on any variable. AE_Peak and GF-LF ratio were higher and r_max lower at 1.53 Hz than at 0.77 Hz.

Conclusion

These findings indicate that the type of feedback does not influence task performance and GF-LF coordination. Therefore, we recommend the use of tracking tasks when assessing GF-LF coordination during isometric LF exertion in externally fixed instrumented handles because they are easier to understand and provide additional indices (e.g., RMSE) of voluntary force control.

Setup of a novel biofeedback prototype for sensorimotor control of the hand and preliminary application in patients with peripheral nerve injuries

BACKGROUND

Biofeedback training is widely used for rehabilitative intervention in patients with central or peripheral nervous impairment to train correct movement patterns; however, no biofeedback apparatus is currently available to correct pinch force ratios for patients with sensory deficiencies.

DESIGN

A cross-sectional and longitudinal design was used in an observational measurement study for establishing a prototype and to determine the effects of biofeedback intervention, respectively.

OBJECTIVE

This study aimed to develop a computerized evaluation and re-education biofeedback (CERB) prototype for application in clinical settings.

METHODS

A CERB prototype was developed integrating pinch apparatus hardware, a biofeedback user-controlled interface, and a data processing/analysis interface to detect momentary pinch performances in 79 people with normal hand sensation. Nine patients with hand sensory impairments were recruited to investigate the effects of training hand function with the CERB prototype.

RESULTS

Hand dominance, pinch pattern, and age significantly affected the peak pinch force and force ratio for lifting a 480-g object with a steel surface. In the case of the 79 volunteers with normal hand sensation, hand dominance affected the time lag between peak pinch force and maximum load; however, it was unaffected by pinch pattern or age. Training with the CERB prototype produced significant improvements in force ratio and better performance in the pin insertion subtests, although the results for both 2-point discriminative and Semmes-Weinstein monofilament tests did not change significantly.

LIMITATIONS

The intervention findings are preliminary.

CONCLUSIONS

This study developed a conjunct system suited for evaluating and restoring sensorimotor function for patients with impaired hand sensibility. The results from the participants with normal hand sensation could serve as a reference database for comparison with patients with nerve injuries.

Adaptations to fatigue of a single digit violate the principle of superposition in a multi-finger static prehension task

We investigated the effects of exercise-induced fatigue of a digit on the biomechanics of a static prehension task. The participants were divided into two groups. One group performed the fatiguing exercise using the thumb (group-thumb) and the second group performed the exercise using the index finger (group-index). We analyzed the prehensile action as being based on a two-level hierarchy. Our first hypothesis was that fatigue of the thumb would have stronger effects at the upper level (action shared between the thumb and all four fingers combined-virtual finger) and fatigue of the index finger would have stronger effects at the lower level of the hierarchy (action of the virtual finger shared among actual fingers). We also hypothesized that fatigue would cause a decrease in the normal force applied by the exercised digit and correspondingly lead to a decrease in the normal force applied by the opposing digit(s). Our third hypothesis was that fatigue would leave the tangential forces unaffected. Fatigue led to a significant drop in the normal force of both exercised and non-exercised (opposing) digits. The tangential forces of the exercised digits increased after fatigue. This led to a drop in the safety margin in the group-thumb, but not group-index. As such, the results supported the first two hypotheses but not the third hypothesis. Overall, the results suggested that fatigue triggered a chain reaction that involved both forces and moments of force produced by individual digits leading to a violation of the principle of superposition. The findings are interpreted within the framework of the referent configuration hypothesis.

Evaluation of strength and irradiated movement pattern resulting from trunk motions of the proprioceptive neuromuscular facilitation

Introduction. The proprioceptive neuromuscular facilitation (PNF) is a physiotherapeutic concept based on muscle and joint proprioceptive stimulation. Among its principles, the irradiation is the reaction of the distinct regional muscle contractions to the position of the application of the motions. Objective. To investigate the presence of irradiated dorsiflexion and plantar flexion and the existing strength generated by them during application of PNF trunk motions. Methods. The study was conducted with 30 sedentary and female volunteers, the PNF motions of trunk flexion, and extension with the foot (right and left) positioned in a developed equipment coupled to the load cell, which measured the strength irradiated in Newton. Results. Most of the volunteers irradiated dorsal flexion in the performance of the flexion and plantar flexion during the extension motion, both presenting an average force of 8.942 N and 10.193 N, respectively. Conclusion. The distal irradiation in lower limbs became evident, reinforcing the therapeutic actions to the PNF indirect muscular activation.

Two-dimensional static manipulation tasks: does force coordination depend on change of the tangential force direction?

Coordination of the grip force (GF) with a tangential force (TF, often referred to as load force) exerted along a certain line in space (i.e., one-dimensional tasks) during object manipulation has proved both to be high and based on feed-forward neural control mechanisms. However, GF-TF coordination deteriorates when the TF of one-dimensional task consecutively switches its direction (bidirectional task). In the present study, we aimed to explore GF-TF coordination in the generally neglected multi-dimensional manipulations. We hypothesized that the coordination would depend on the number of unidirectional and bidirectional orthogonal components of a two-dimensional TF exertion. Fourteen subjects traced various circular TF patterns and their orthogonal diameters shown on a computer screen by exerting a static TF. As expected, the unidirectional tasks revealed higher GF-TF coordination than the bidirectional ones (e.g., higher GF-TF correlations and GF gains, and lower GF/TF ratio). Regarding the circular tasks, most of the data were in line with the hypothesis revealing higher coordination associated with higher number of unidirectional components. Of particular importance could be that the circular tasks also revealed prominent time lags of GF with respect to TF, suggesting involvement of feedback mechanisms. We conclude that the force coordination in bidirectional static manipulations could be affected by changes in TF direction along either of its orthogonal components. The time lags observed from the circular tasks could be a consequence of the activity of sensory afferents, rather than of the visual feedback provided or the task complexity.

Multi-digit coordination during lifting a horizontally oriented object: synergies control with referent configurations

We explored digit coordination during the acceleration phase of a quick lifting movement of a hand-held horizontal object. We tested three hypotheses related to: (1) the scaling of mechanical variables produced by the hand with changes in the external load, torque, and moment of inertia; (2) changes in the safety margin for the thumb with both the loading conditions and acceleration; and (3) changes in the indices of synergies. The subjects held a horizontal handle with a prismatic grasp (the thumb acted on top of the handle) and performed series of "very quick" lifting movements to a visual target. Multi-digit synergies were quantified as co-variation indices among elemental variables (forces and moments produced by individual digits). The resultant force scaled with the external load but not torque, while the grip force scaled with the external torque but not load. The safety margin dropped with an increase in acceleration; it also showed changes with the external torque and moment of inertia. Total moment of force was primarily produced by the tangential forces (over 80 %) across all movement phases and loading conditions. The index and little fingers produced close to zero moment with their normal forces, while the middle and ring fingers produced consistent moments due to the reproducible shifts of their centers of pressure. Synergy indices at the upper level of the assumed hierarchy (the task is shared between the thumb and virtual finger--an imagined digit with the action equal to that of the four fingers combined) did not drop with acceleration for the three force vector components and one of the moment vector components. They did drop with acceleration at the lower level (virtual finger action is shared among the four fingers). There was a trade-off between synergy indices computed at the two levels for the three force vector components, but not for the moment of force components. We confirmed specialization of different fingers with respect to different task components in quick manipulation tasks. The findings have implications for hypotheses on the control of voluntary movements involving redundant sets of effectors. Within the referent configuration hypothesis, components of a referent configuration may be adjusted to task mechanical characteristics using simple scaling rules. The neural organization of multi-digit synergies in a hierarchal system is able to selectively protect synergies related to stabilization of some performance variables from detrimental effects of the rate of change of those variables. A large number of apparently redundant elemental variables are not the source of additional computational problems but may be beneficial, allowing the central nervous system to facilitate synergies at both levels of the hierarchy.

Power grip force is modulated in repeated elbow movement

The objective of this study was to quantitatively investigate the modulation of power grip force under repeated elbow movement and its relation to muscle cocontraction and potential risk of developing cumulative trauma disorders (CTD). Thirteen right-handed participants without any neuromuscular disorders were recruited. Participants were instructed to hold a digital dynamometer in the hand with three levels of grip forces (20%, 40% and 60% of the maximum grip force) and perform repeated arm movement in the sagittal plane at three speeds (slow, self-paced and fast) with the upper arm voluntarily held by side by the participant. With the increase of motion rate and target force level, the grip force fluctuation, finger flexor muscle activities, elbow muscles cocontraction and apparent stiffness were significantly increased (p < 0.01). This study suggests that the power grip coupled with fast arm movement be avoided as much as possible in the workplace.

PRACTITIONER SUMMARY

Power grip is usually accompanied with arm movement in workplaces and the increased physical demand might result in higher muscle activities and potentially higher risk of repetitive musculoskeletal injuries.

Grip forces during object manipulation: experiment, mathematical model, and validation

When people transport handheld objects, they change the grip force with the object movement. Circular movement patterns were tested within three planes at two different rates (1.0, 1.5 Hz) and two diameters (20, 40 cm). Subjects performed the task reasonably well, matching frequencies and dynamic ranges of accelerations within expectations. A mathematical model was designed to predict the applied normal forces from kinematic data. The model is based on two hypotheses: (a) the grip force changes during movements along complex trajectories can be represented as the sum of effects of two basic commands associated with the parallel and orthogonal manipulation, respectively; (b) different central commands are sent to the thumb and virtual finger (Vf-four fingers combined). The model predicted the actual normal forces with a total variance accounted for of better than 98%. The effects of the two components of acceleration-along the normal axis and the resultant acceleration within the shear plane-on the digit normal forces are additive.

Prehension of half-full and half-empty glasses: time and history effects on multi-digit coordination

We explored how digit forces and indices of digit coordination depend on the history of getting to a particular set of task parameters during static prehension tasks. The participants held in the right hand an instrumented handle with a light-weight container attached on top of the handle. At the beginning of each trial, the container could be empty, filled to the half with water (0.4 l), or filled to the top (0.8 l). The water was pumped in/out of the container at a constant, slow rate over 10 s. At the end of each trial, the participants always held a half-filled container that has just been filled (Empty-Half), emptied (Full-Half) or stayed half-filled throughout the trial (Half-Only). Indices of covariation (synergy indices) of elemental variables (forces and moments of force produced by individual digits) stabilizing such performance variables as total normal force, total tangential force, and total moment of force were computed at two levels of an assumed control hierarchy. At the upper level, the task is shared between the thumb and virtual finger (an imagined digit with the mechanical action equal to that of the four fingers), while at the lower level the action of the virtual finger is shared among the actual four fingers. Filling or emptying the container led to a drop in the safety margin (proportion of grip force over the slipping threshold) below the values observed in the Half-Only condition. Synergy indices at both levels of the hierarchy showed changes over the Full-Half and Empty-Half condition. These changes could be monotonic (typical of moment of force and normal force) or non-monotonic (typical of tangential force). For both normal and tangential forces, higher synergy indices at the higher level of the hierarchy corresponded to lower indices at the lower level. Significant differences in synergy indices across conditions were seen at the final steady state showing that digit coordination during steady holding an object is history dependent. The observations support an earlier hypothesis on a trade-off between synergies at the two levels of a hierarchy. They also suggest that, when a change in task parameters is expected, the neural strategy may involve producing less stable (easier to change) actions. The results suggest that synergy indices may be highly sensitive to changes in a task variable and that effects of such changes persist after the changes are over.

Sensorimotor Mapping for Anticipatory Grip Force Modulation

During object manipulation, predictive grip force modulation allows compensation for inertial forces induced by the object's acceleration. This coupling between grip force (GF) and load force (LF) during voluntary movements has demonstrated high levels of complexity, adaptability, and flexibility under many loading conditions in a broad range of experimental studies. The association between GF and LF indicates the presence of internal models underlying predictive GF control. The present experiment sought to identify the variables taken into account during GF modulation at the initiation of a movement. Twenty subjects performed discrete point-to-point movements under normal and hypergravity conditions induced by parabolic flights. Two control experiments performed under normal gravitational conditions compared the observed effect of the increase in gravity with the effects of a change in movement kinematics and a change in mass. In hypergravity, subjects responded accurately to the increase in weight during stationary holding but overestimated inertial loads. During dynamic phases, the relationship between GF and LF under hypergravity varied in a manner similar to the control test in which object mass was increased, whereas a change in movement kinematics could not reproduce this result. We suggest that the subjects' strategy for anticipatory GF modulation is based on sensorimotor mapping that combines the perception of the weight encoded during stationary holding with an internal representation of the movement kinematics. In particular, such a combination reflects a prior knowledge of the unequivocal relationship linking mass, weight, and loads under the invariant gravitational context experienced on Earth.

Delayed visual feedback affects both manual tracking and grip force control when transporting a handheld object

When we manipulate an object, grip force is adjusted in anticipation of the mechanical consequences of hand motion (i.e., load force) to prevent the object from slipping. This predictive behavior is assumed to rely on an internal representation of the object dynamic properties, which would be elaborated via visual information before the object is grasped and via somatosensory feedback once the object is grasped. Here we examined this view by investigating the effect of delayed visual feedback during dextrous object manipulation. Adult participants manually tracked a sinusoidal target by oscillating a handheld object whose current position was displayed as a cursor on a screen along with the visual target. A delay was introduced between actual object displacement and cursor motion. This delay was linearly increased (from 0 to 300 ms) and decreased within 2-min trials. As previously reported, delayed visual feedback altered performance in manual tracking. Importantly, although the physical properties of the object remained unchanged, delayed visual feedback altered the timing of grip force relative to load force by about 50 ms. Additional experiments showed that this effect was not due to task complexity nor to manual tracking. A model inspired by the behavior of mass-spring systems suggests that delayed visual feedback may have biased the representation of object dynamics. Overall, our findings support the idea that visual feedback of object motion can influence the predictive control of grip force even when the object is grasped.

Frictional properties of different hand skin areas and grasping techniques

High friction is crucially important in manipulation activities for reducing the hand grip forces and improving control of manipulative tasks. The aim of this study was to assess the coefficient of friction (COF) of various areas of hand skin. Static COF of nine different grasping techniques applied against two object coatings was assessed by means of the 'slip point' method in 16 participants. COF measures proved to be both highly reliable and considerably variable across participants (coefficients of variation ranging from 25 to 75%, depending on the applied grasp). COF was also higher in 'specialised' than in 'non-specialised' skin areas for grasping, as well as in palms, than in the tips of the fingers. The observed findings are of importance for optimisation of object manipulations and also emphasise the importance of measuring individual COF in ergonomic, biomechanics and motor control studies. STATEMENT OF RELEVANCE: The results reveal prominent differences in skin friction not only across various areas of the hand, but also across participants. While the former finding is relevant for optimisation of manipulation activities, the latter emphasises the importance of assessment of individual COF in studies of hand function.

Manipulation of a fragile object

We investigated strategies of adjustments in kinetic and kinematic patterns, and in multi-digit synergies during quick vertical transport of an instrumented handle that collapsed when the grasping force exceeded a certain magnitude (quantified with a fragility index). The collapse threshold of the object was set using a novel electromagnetic device. Moving a fragile object is viewed as a task with two constraints on the grip force defined by the slipping and crushing thresholds. When moving more fragile objects, subjects decreased object peak acceleration, increased movement time, showed a drop in the safety margin (SM) (extra force over the slipping threshold), and showed a tendency toward violating the minimum-jerk criterion. Linear regression analysis of grip force against load force has shown tight coupling between the two with a decline in the coefficient of determination with increased fragility index. The SM was lower in bimanual tasks, compared to unimanual tasks, for both fragile and non-fragile objects. Two novel indices have been introduced and studied, the SM due to fragility and the drop-crush index. Both indices showed a decrease with increased object fragility. Changes in the drop-crush index showed that the subjects would rather crush the fragile objects as opposed to dropping them, possibly reflecting the particular experimental procedure. We did not find differences between the performance indices of the dominant and non-dominant hand thus failing to support the recently formulated dominance hypothesis. The synergies stabilizing grip force were quantified at two levels of an assumed two-level control hierarchy using co-variation indices between elemental variables across trials. There were strong synergies at the upper level of the hierarchy (the task is shared between the opposing groups of digits) that weakened with an increase in object fragility. At the lower level (action of an effector is shared among the four fingers), higher fragility led to higher synergy indices. Analysis of force variance showed that an increase in object fragility was accompanied by exploring a smaller range of equivalent combinations of elemental variables. The additional constraint imposed by high fragility facilitated synergies at the lower level of the hierarchy, while there was evidence for a trade-off between synergies at the two levels.

Objective evaluation of fine motor manipulation-a new clinical tool

A new performance-based tool has been developed to accurately and precisely evaluate finger/hand function during manipulation of any object, independent of geometric and surface properties. The objectives of this study were to show test-retest reliability and evaluate criterion validity. Twenty healthy, right-handed participants were recruited. Three objects ranging in weight and size, requiring two or three fingers, were instrumented with a motion sensor that tracked 3D linear/angular motion. A computerized visual-guided tracking task was used to quantify motor performance during object manipulation. Two testing periods, one week apart were performed to evaluate test-retest reliability. Criterion validity was assessed by comparing performance with this tool to performance on commonly used clinical dexterity tests. Global performance, temporal accuracy, and amplitude consistency during manipulation of the objects compared with the reference waveform were highly reliable on the two testing occasions. Low-moderate correlations between the clinical dexterity tests and the task protocol indicate that different aspects of hand function were measured. The task protocol directly measures the ability of the hand to coordinate movement in response to a visual tracking target. Providing effective and objective ways to evaluate manual dexterity and hand function is a critical part of evidence-based practice.

Forward models of inertial loads in weightlessness

In this experiment, we investigated whether the CNS uses internal forward models of inertial loads to maintain the stability of a precision grip when manipulating objects in the absence of gravity. The micro-gravity condition causes profound changes in the profile of tangential constraints at the finger-object interface. In order to assess the ability to predict the micro-gravity-specific variation of inertial loads, we analyzed the grip force adjustments that occurred when naive subjects held an object in a precision grip and performed point-to-point movements under the weightless condition induced by parabolic flight. Such movements typically presented static and dynamic phases, which permitted distinction between a static component of the grip force (measured before the movement) and a dynamic component of the grip force (measured during the movement). The static component tended to gradually decrease across the parabolas, whereas the dynamic component was rapidly modulated with the micro-gravity-specific inertial loads. In addition, the amplitude of the modulation significantly correlated with the amplitude of the tangential constraints for the dynamic component. These results strongly support the hypothesis that the internal representation of arm and object dynamics adapts to new gravitational contexts. In addition, the difference in time scales of adaptation of static and dynamic components suggests that they can be processed independently. The prediction of self-induced variation of inertial loads permits fine modulation of grip force, which ensures a stable grip during manipulation of an object in a new environment.

Effects of object compliance on three-digit grasping

Compared with rigid objects, grasping and lifting compliant objects presents additional uncertainties. For any static grasp, forces at the fingertips depend on factors including the locations of the contact points and the contact forces must be coordinated to maintain equilibrium. For compliant objects, the locations and orientations of the contact surfaces change in a force-dependent manner, thus changing the force requirements. Furthermore, every force adjustment then results in additional changes in object shape. This study characterized force and muscle activation patterns in this situation. Fingertip forces were measured as subjects grasped and lifted a 200-g object using their thumb, index, and ring fingers. A spring was sometimes placed under the index and/or ring finger contact surface. Surface electromyographic activity was recorded from ten hand muscles and one proximal arm muscle. The patterns of grip (normal) force and muscle activity were similar across conditions during the load and lift phases, but their amplitude depended on whether the contact surface was compliant. Specifically, the grip force increased smoothly during the load phase of the task under all conditions. To the contrary, the tangential contact (load) force did not increase monotonically when one or more of the contact surfaces were compliant, resulting in a decoupling of the grip and load forces.

Effects of grasping force magnitude on the coordination of digit forces in multi-finger prehension

The study addresses three main questions: (1) Does the magnitude of the grasping force affect the prehension synergies, i.e., conjoint changes of finger forces and moments? (2) Do individual finger forces scale with the total grasping forces ('scale-invariance hypothesis')? (3) How specification of the grasping force magnitude affects the inverse optimization of digit forces. Subjects (n = 7) grasped with minimal force an instrumented handle and maintained it at rest in the air. Then, the subjects doubled the initial grasping force. The forces and moments exerted by individual digits were recorded with six-component sensors. External torques that the subjects should resist (9 in total) varied among the trials from 0 to 0.46 Nm both in clockwise and counterclockwise directions. After the force doubling, the moments of the normal forces (M (n)) increased in the pronation effort tasks (PR-tasks) and decreased in the supination effort tasks (SU-tasks). The changes in the moments of the tangential forces (M (t)) were opposite to the M (n) changes; the moments increased in the SU-tasks and decreased in the PR-tasks. The opposite effects of force doubling on the M (t)s in the SU-tasks and PR-tasks were a consequence of the unidirectional changes of the thumb tangential forces: in all the tasks the contribution of the thumb tangential force to the total tangential force increased after the grasping force doubling (and the total contribution of the four fingers decreased). The decrease of the virtual finger (VF) tangential force was mainly due to the decrease of the index finger force (VF is an imagined finger that exerts the same force and moment as all the fingers together). In the non-zero torque tasks the individual finger forces did not scale proportionally with the grasping force, the sharing percentage of the individual finger forces in the VF normal force changed with the grasping force increase. The root mean square differences between the actual finger sharing percentages in the VF force and the sharing percentages predicted from optimization procedures in which different cost functions were used were in all cases smaller after the doubling than before the doubling. Hence the answers to the three questions formulated above are: (1) the alteration of the grasping force magnitude induces complex coordinated changes of all digit forces and moments; (2) the scale invariance hypothesis is confirmed only for the zero-torque tasks and rejected for the non-zero tasks, and (3) the specification of the grasping force magnitude at the level of twice the initial grasping force-which essentially restricts the control task to the object tilt prevention-improves the accuracy of the employed optimization procedures.

Multi-finger prehension: control of a redundant mechanical system

The human hand has been a fascinating object of study for researchers in both biomechanics and motor control. Studies of human prehension have contributed significantly to the progress in addressing the famous problem of motor redundancy. After a brief review of the hand mechanics, we present results of recent studies that support a general view that the apparently redundant design of the hand is not a source of computational problems but a rich apparatus that allows performing a variety of tasks in a reliable and flexible way (the principle of abundance). Multi-digit synergies have been analyzed at two levels of a hypothetical hierarchy involved in the control of prehensile actions. At the upper level, forces and moments produced by the thumb and virtual finger (an imagined finger with a mechanical action equal to the combined mechanical action of all four fingers of the hand) co-vary to stabilize the gripping action and the orientation of the hand-held object. These results support the principle of superposition suggested earlier in robotics with respect to the control of artificial grippers. At the lower level of the hierarchy, forces and moments produced by individual fingers co-vary to stabilize the magnitude and direction of the force vector and the moment of force produced by the virtual finger. Adjustments to changes in task constraints (such as, for example, friction under individual digits) may be local and synergic. The latter reflect multi-digit prehension synergies and may be analyzed with the so-called chain effects: Sequences of relatively straightforward cause-effect links directly related to mechanical constraints leading to non-trivial strong co-variation between pairs of elemental variables. Analysis of grip force adjustments during motion of hand-held objects suggests that the central nervous system adjusts to gravitational and inertial loads differently. The human hand is a gold mine for researchers interested in the control of natural human movements.

Hierarchical control of static prehension: I. Biomechanics

We explored the action of digits during static prehension tasks involving one hand or two hands of one or two persons. Three hypotheses were tested: to prevent slippage of the object, grip force and safety margin (SM) would be largest in bimanual conditions, particularly involving two persons; the distribution of tangential forces would not differ among tested conditions, thus preserving the vertical orientation of the object in a stereotypical way; and the mechanical advantage of fingers would be used to maintain rotational equilibrium. The multi-digit synergies are discussed in the companion paper (Gorniak et al. 2009, in review). The subjects held vertical one of the two handles, a narrow one and a wide one. They used the four fingers of the right hand opposed by either the right hand thumb, the left hand thumb, the left hand index finger, the thumb of an experimenter, the index finger of an experimenter, or an inanimate object. Forces and moments of force produced by each digit were recorded. The first two hypotheses were falsified. Both grip force and SM were the largest in the one-hand task, and they were the lowest for the tasks involving two persons. The distribution of tangential forces among fingers was significantly different in the one-hand task. The mechanical advantage hypothesis was supported across all the tested conditions. The results suggest that the neural controller uses a different strategy in the one-hand task as compared to other tasks, while bimanual prehension involving two persons differs from one-person two-hand tasks. The findings do not support a hypothesis that normal (grip) forces are adjusted to ensure a particular value of the SM. Maintaining rotational equilibrium was achieved differently in different tasks. In particular, the one-hand task was characterized by large intercompensated adjustments in different contributors to the total moment of force, which could be described as chain effects; such adjustments were all but absent in the other conditions. The findings may be interpreted within the framework of the reference configuration hypothesis, in which digit forces emerge due to the discrepancies between the actual and the centrally defined (reference) hand aperture.

Multifinger prehension: an overview

The authors review the available experimental evidence on what people do when they grasp an object with several digits and then manipulate it. The article includes three parts, each addressing a specific aspect of multifinger prehension. In the first part, the authors discuss manipulation forces (i.e., the resultant force and moment of force exerted on the object) and the digits' contribution to such forces' production. The second part deals with internal forces defined as forces that cancel each other and do not disturb object equilibrium. The authors discuss the role of the internal forces in maintaining the object stability, with respect to such issues as slip prevention, tilt prevention, and resistance to perturbations. The third part is devoted to the motor control of prehension. It covers such topics as prehension synergies, chain effects, the principle of superposition, interfinger connection matrices and reconstruction of neural commands, mechanical advantage of the fingers, and the simultaneous digit adjustment to several mutually reinforcing or conflicting demands.

Effects of Gait Variations on Grip Force Coordination During Object Transport

In object transport during unimpeded locomotion, grip force is precisely timed and scaled to the regularly paced sinusoidal inertial force fluctuations. However, it is unknown whether this coupling is due to moment-to-moment predictions of upcoming inertial forces or a longer, generalized time estimate of regularly paced inertial forces generated during the normal gait cycle. Eight subjects transported a grip instrument during five walking conditions, four of which altered the gait cycle. The variations included changes in step length (taking a longer or shorter step) or stepping on and over a stable (predictable) or unstable (unpredictable support surface) obstacle within a series of baseline steps, which resulted in altered frequencies and magnitudes of the inertial forces exerted on the transported object. Except when stepping on the unstable obstacle, a tight temporal coupling between the grip and inertial forces was maintained across gait variations. Precision of this timing varied slightly within the time window for anticipatory grip force control possibly due to increased attention demands related to some of the step alterations. Furthermore, subjects anticipated variations in inertial force when the gait cycle was altered with increases or decreases in grip force, relative to the level of the inertial force peaks. Overall the maintenance of force coupling and scaling across predictable walking conditions suggests that the CNS is able to anticipate changes in inertial forces generated by gait variations and to efficiently predict the grip force needed to maintain object stability on a moment-to-moment basis.

Hand function in multiple sclerosis: force coordination in manipulation tasks

OBJECTIVE

To evaluate the methodology for exploring the specific aspects of functional impairment in multiple sclerosis (MS) through the pattern of forces exerted in various manipulation tasks.

METHODS

Twelve mildly involved MS patients (EDSS 2.5-5.5) and 12 healthy controls performed various static and dynamic manipulation tasks with an instrumented device that recorded the grip (G; normal to the digit device contact area) and load force (L; tangential force that causes lifting).

RESULTS

MS patients consistently displayed lower indices of task performance (as assessed by the ability to produce the required L profiles) and force coordination (as assessed by G/L ratio, coupling of G and L, and G modulation) than the healthy controls across all tested tasks.

CONCLUSIONS

The applied methodology could be sensitive enough to detect the hand dysfunction in mildly involved individuals with MS. Particularly recommended for future evaluations of the impairment of hand function could be a simple lifting task and the static task of tracing a gradually changing L, as well as the variables depicting both the task performance and G/L ratio.

SIGNIFICANCE

The applied methodology could be developed into a standard clinical test for the assessment of hand function in MS and, possibly, in other neurological diseases.