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Lin BS, Kuo SF, Lee IJ, Lu LH, Chen PY, Wang PC, Lai CH, Wang XM, Lin CH. The impact of aging and reaching movements on grip stability control during manual precision tasks. BMC Geriatr 2021; 21:703. [PMID: 34911487 PMCID: PMC8672550 DOI: 10.1186/s12877-021-02663-3] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/06/2021] [Accepted: 11/24/2021] [Indexed: 01/11/2023] Open
Abstract
Background Operating an object by generating stable hand-grip force during static or dynamic posture control of the upper extremities simultaneously is an important daily activity. Older adults require different attentional resources during grip strength control and arm movements. However, the impact of aging and reaching movements on precise grip strength and stability control among older adults is not well understood. This study investigated the impact of aging and reaching movements on grip strength and stability control in both hands of the upper extremities. Methods Fifty healthy young adults (age: 28.8 ± 14.0 years) and 54 healthy older adults (73.6 ± 6.3 years) were recruited to perform isometric grip strength test at 20% maximal voluntary contraction as the target force during three manual precision tasks simultaneously: stationary task (without arm movements), forward-reach task, and backward-reach task. The average grip force (in kg) and coefficient of variation values (expressed as a percentage) during manual precision tasks were calculated to determine the quality of participants’ grip strength. The deviation error, absolute error, and force-stability index values were calculated to determine the strength control relative to the target force. Results For both the young and older groups, the force-stability index values in both hands were significantly higher during forward- and backward-reaching movements than in the stationary condition (p < 0.05). The older group exhibited a significantly lower hand-grip strength and stability of strength control in both hands than the young group (p < 0.05). Conclusions Aging and reaching task performance reduced the grip strength of participants and increased the variations in strength control of both hands relative to the target force, indicating that older adults exhibit poor grip strength and stability control when performing arm-reaching movements. These findings may help clinical therapists in establishing objective indexes for poor grip-stability control screening and developing appropriate rehabilitation programs or health-promotion exercises that can improve grip strength and stability control in older people.
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Affiliation(s)
- Bor-Shing Lin
- Department of Computer Science and Information Engineering, College of Electrical Engineering and Computer Science, National Taipei University, New Taipei City, Taiwan, ROC
| | - Shu-Fen Kuo
- School of Nursing, College of Nursing, Taipei Medical University, Taipei, Taiwan, ROC
| | - I-Jung Lee
- Department of Computer Science and Information Engineering, College of Electrical Engineering and Computer Science, National Taipei University, New Taipei City, Taiwan, ROC
| | - Liang-Hsuan Lu
- Department of Physical Therapy and Assistive Technology, National Yang-Ming University, Taipei, Taiwan, ROC
| | - Po-Yin Chen
- Department of Physical Therapy and Assistive Technology, National Yang-Ming University, Taipei, Taiwan, ROC
| | - Pin-Chun Wang
- Vitality and Ageing, Leiden University Medical Center, Leiden, Netherlands.,Erasmus University Rotterdam, Rotterdam, Netherlands
| | - Chien-Hung Lai
- Department of Physical Medicine and Rehabilitation, School of Medicine, College of Medicine, Taipei Medical University, Taipei, Taiwan
| | - Xin-Miao Wang
- Faculty of Humanities, Zhejiang Dong Fang Polytechnic Collage, Wenzhou, China
| | - Chueh-Ho Lin
- Master Program in Long-Term Care, College of Nursing, Taipei Medical University, 250 Wu-Xing Street, 11031, Taipei, Taiwan, ROC. .,Center for Nursing and Healthcare Research in Clinical Practice Application, Wan Fang Hospital, Taipei Medical University, 250 Wu-Xing Street, 11031, Taipei, Taiwan, ROC.
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Bazzi S, Sternad D. Human control of complex objects: Towards more dexterous robots. Adv Robot 2020; 34:1137-1155. [PMID: 33100448 PMCID: PMC7577404 DOI: 10.1080/01691864.2020.1777198] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/23/2020] [Revised: 05/08/2020] [Accepted: 05/27/2020] [Indexed: 10/24/2022]
Abstract
Manipulation of objects with underactuated dynamics remains a challenge for robots. In contrast, humans excel at 'tool use' and more insight into human control strategies may inform robotic control architectures. We examined human control of objects that exhibit complex - underactuated, nonlinear, and potentially chaotic dynamics, such as transporting a cup of coffee. Simple control strategies appropriate for unconstrained movements, such as maximizing smoothness, fail as interaction forces have to be compensated or preempted. However, predictive control based on internal models appears daunting when the objects have nonlinear and unpredictable dynamics. We hypothesized that humans learn strategies that make these interactions predictable. Using a virtual environment subjects interacted with a virtual cup and rolling ball using a robotic visual and haptic interface. Two different metrics quantified predictability: stability or contraction, and mutual information between controller and object. In point-to-point displacements subjects exploited the contracting regions of the object dynamics to safely navigate perturbations. Control contraction metrics showed that subjects used a controller that exponentially stabilized trajectories. During continuous cup-and-ball displacements subjects developed predictable solutions sacrificing smoothness and energy efficiency. These results may stimulate control strategies for dexterous robotic manipulators and human-robot interaction.
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Affiliation(s)
- Salah Bazzi
- Department of Biology, Northeastern University, Boston, Massachusetts 02115, USA
- Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA
| | - Dagmar Sternad
- Department of Biology, Northeastern University, Boston, Massachusetts 02115, USA
- Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA
- Department of Physics, Northeastern University, Boston, Massachusetts 02115, USA
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Naik A, Ambike S. The coordination between digit forces is altered by anticipated changes in prehensile movement patterns. Exp Brain Res 2020; 238:1145-1156. [PMID: 32232541 DOI: 10.1007/s00221-020-05783-1] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/14/2019] [Accepted: 03/13/2020] [Indexed: 11/30/2022]
Abstract
Stability is the ability of a system to maintain a desired static or dynamic motor pattern. Maneuverability, on the other hand, is the ability to transition between motor patterns, and it is antagonistic to stability. Animals frequently reduce the stability of an ongoing task to facilitate anticipated movement transitions. Such stability-maneuverability tradeoffs are observed in human locomotion. However, the notion applies to other behaviors and this paper reports the first study on the stability-maneuverability tradeoff in human prehension. We tested if the coordination between the digit forces during the manipulation of a hand-held object is altered in response to an expected change in the manipulation pattern. We focused on the coupling between the grip and the load force and between the opposing forces exerted by the thumb and the four fingers, and on the transition from rhythmic vertical oscillation to non-vertical oscillation of the object. The nature of these couplings depends on the oscillation direction. Therefore, the stability-maneuverability tradeoff predicts that an expected volitional change to the object's movement will diminish the strength of these couplings so that the force patterns generating the current movement can efficiently transition into new ones that generate the new movement. The strength of the grip-load coupling did not alter in tasks that required a change in movement compared to tasks that did not. We speculate that participants preferred safety over maneuverability and maintained the grip-load coupling strength to counter high inertial loads and avoid object slip. In contrast, the strength of the coupling between the thumb and the four fingers' opposing forces reduced in tasks that required a change in movement compared to tasks that did not. Thus, the stability-reduction aspect of the stability-maneuverability tradeoff occurs in prehensile behavior. Future work should focus on associating the reduction in stability with gains in maneuverability, and on developing a comprehensive account of this tradeoff in prehensile tasks.
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Affiliation(s)
- Anvesh Naik
- Department of Health and Kinesiology, Purdue University, 800 West Stadium Ave, West Lafayette, IN, 47907, USA
| | - Satyajit Ambike
- Department of Health and Kinesiology, Purdue University, 800 West Stadium Ave, West Lafayette, IN, 47907, USA.
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4
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Yamaguchi A, Atkeson CG. Recent progress in tactile sensing and sensors for robotic manipulation: can we turn tactile sensing into vision? Adv Robot 2019. [DOI: 10.1080/01691864.2019.1632222] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
Affiliation(s)
- Akihiko Yamaguchi
- Graduate School of Information Sciences, Tohoku University, Miyagi, Japan
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Pham TH, Kyriazis N, Argyros AA, Kheddar A. Hand-Object Contact Force Estimation from Markerless Visual Tracking. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 2018; 40:2883-2896. [PMID: 29989962 DOI: 10.1109/tpami.2017.2759736] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
We consider the problem of estimating realistic contact forces during manipulation, backed with ground-truth measurements, using vision alone. Interaction forces are usually measured by mounting force transducers onto the manipulated objects or the hands. Those are costly, cumbersome, and alter the objects' physical properties and their perception by the human sense of touch. Our work establishes that interaction forces can be estimated in a cost-effective, reliable, non-intrusive way using vision. This is a complex and challenging problem. Indeed, in multi-contact, a given motion can generally be caused by an infinity of possible force distributions. To alleviate the limitations of traditional models based on inverse optimization, we collect and release the first large-scale dataset on manipulation kinodynamics as 3.2 hours of synchronized force and motion measurements under 193 object-grasp configurations. We learn a mapping between high-level kinematic features based on the equations of motion and the underlying manipulation forces using recurrent neural networks (RNN). The RNN predictions are consistently refined using physics-based optimization through second-order cone programming (SOCP). We show that our method can successfully capture interaction forces compatible with both the observations and the way humans intuitively manipulate objects, using a single RGB-D camera.
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Donner P, Endo S, Buss M. Physically Plausible Wrench Decomposition for Multieffector Object Manipulation. IEEE T ROBOT 2018. [DOI: 10.1109/tro.2018.2830369] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Intermittent coupling between grip force and load force during oscillations of a hand-held object. Exp Brain Res 2018; 236:2531-2544. [DOI: 10.1007/s00221-018-5315-2] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/08/2018] [Accepted: 06/15/2018] [Indexed: 10/28/2022]
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Vermillion BC, Lum PS, Lee SW. Proximal arm kinematics affect grip force-load force coordination. J Neurophysiol 2015; 114:2265-77. [PMID: 26289460 DOI: 10.1152/jn.00227.2015] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/06/2015] [Accepted: 08/18/2015] [Indexed: 01/16/2023] Open
Abstract
During object manipulation, grip force is coordinated with load force, which is primarily determined by object kinematics. Proximal arm kinematics may affect grip force control, as proximal segment motion could affect control of distal hand muscles via biomechanical and/or neural pathways. The aim of this study was to investigate the impact of proximal kinematics on grip force modulation during object manipulation. Fifteen subjects performed three vertical lifting tasks that involved distinct proximal kinematics (elbow/shoulder), but resulted in similar end-point (hand) trajectories. While temporal coordination of grip and load forces remained similar across the tasks, proximal kinematics significantly affected the grip force-to-load force ratio (P = 0.042), intrinsic finger muscle activation (P = 0.045), and flexor-extensor ratio (P < 0.001). Biomechanical coupling between extrinsic hand muscles and the elbow joint cannot fully explain the observed changes, as task-related changes in intrinsic hand muscle activation were greater than in extrinsic hand muscles. Rather, between-task variation in grip force (highest during task 3) appears to contrast to that in shoulder joint velocity/acceleration (lowest during task 3). These results suggest that complex neural coupling between the distal and proximal upper extremity musculature may affect grip force control during movements, also indicated by task-related changes in intermuscular coherence of muscle pairs, including intrinsic finger muscles. Furthermore, examination of the fingertip force showed that the human motor system may attempt to reduce variability in task-relevant motor output (grip force-to-load force ratio), while allowing larger fluctuations in output less relevant to task goal (shear force-to-grip force ratio).
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Affiliation(s)
- Billy C Vermillion
- Department of Biomedical Engineering, The Catholic University of America, Washington, District of Columbia; Center for Applied Biomechanics and Rehabilitation Research, MedStar National Rehabilitation Hospital, Washington, District of Columbia; and
| | - Peter S Lum
- Department of Biomedical Engineering, The Catholic University of America, Washington, District of Columbia; Center for Applied Biomechanics and Rehabilitation Research, MedStar National Rehabilitation Hospital, Washington, District of Columbia; and Department of Veterans Affairs Medical Center, Washington, District of Columbia
| | - Sang Wook Lee
- Department of Biomedical Engineering, The Catholic University of America, Washington, District of Columbia; Center for Applied Biomechanics and Rehabilitation Research, MedStar National Rehabilitation Hospital, Washington, District of Columbia; and
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Viviani P, Lacquaniti F. Grip forces during fast point-to-point and continuous hand movements. Exp Brain Res 2015. [DOI: 10.1007/s00221-015-4388-4] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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Ambike S, Zhou T, Zatsiorsky VM, Latash ML. Moving a hand-held object: Reconstruction of referent coordinate and apparent stiffness trajectories. Neuroscience 2015; 298:336-56. [PMID: 25896800 DOI: 10.1016/j.neuroscience.2015.04.023] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/20/2014] [Revised: 04/03/2015] [Accepted: 04/12/2015] [Indexed: 10/23/2022]
Abstract
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.
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Affiliation(s)
- S Ambike
- Department of Kinesiology, The Pennsylvania State University, University Park, PA, USA.
| | - T Zhou
- Department of Kinesiology, The Pennsylvania State University, University Park, PA, USA
| | - V M Zatsiorsky
- Department of Kinesiology, The Pennsylvania State University, University Park, PA, USA
| | - M L Latash
- Department of Kinesiology, The Pennsylvania State University, University Park, PA, USA
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Ambike S, Paclet F, Zatsiorsky VM, Latash ML. Factors affecting grip force: anatomy, mechanics, and referent configurations. Exp Brain Res 2014; 232:1219-31. [PMID: 24477762 DOI: 10.1007/s00221-014-3838-8] [Citation(s) in RCA: 41] [Impact Index Per Article: 4.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/07/2013] [Accepted: 01/09/2014] [Indexed: 10/25/2022]
Abstract
The extrinsic digit muscles naturally couple wrist action and grip force in prehensile tasks. We explored the effects of wrist position on the steady-state grip force and grip-force change during imposed changes in the grip aperture [apparent stiffness (AS)]. Subjects held an instrumented handle steady using a prismatic five-digit grip. The grip aperture was changed slowly, while the subjects were instructed not to react voluntarily to these changes. An increase in the aperture resulted in an increase in grip force, and its contraction resulted in a proportional drop in grip force. The AS values (between 4 and 6 N/cm) were consistent across a wide range of wrist positions. These values were larger when the subjects performed the task with eyes open as compared to eyes-closed trials. They were also larger for trials that started from a larger initial aperture. After a sequence of aperture increase and decrease to the initial width, grip force dropped by about 25% without the subjects being aware of this. We interpret the findings within the referent configuration hypothesis of grip-force production. The results support the idea of back-coupling between the referent and actual digit coordinates. According to this idea, the central nervous system defines referent coordinates for the digit tips, and the difference between the referent and actual coordinates leads to force production. If actual coordinates are not allowed to move to referent ones, referent coordinates show a relatively slow drift toward the actual ones.
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Affiliation(s)
- Satyajit Ambike
- Department of Kinesiology, 39 Rec. Hall, The Pennsylvania State University, University Park, PA, 16802, USA,
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12
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Grip-force modulation in multi-finger prehension during wrist flexion and extension. Exp Brain Res 2013; 227:509-22. [PMID: 23625077 DOI: 10.1007/s00221-013-3527-z] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/16/2013] [Accepted: 04/11/2013] [Indexed: 10/26/2022]
Abstract
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.
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Uygur M, Jin X, Knezevic O, Jaric S. Two-dimensional static manipulation tasks: does force coordination depend on change of the tangential force direction? Exp Brain Res 2012; 222:365-75. [PMID: 22923208 DOI: 10.1007/s00221-012-3221-6] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/14/2012] [Accepted: 08/06/2012] [Indexed: 10/28/2022]
Abstract
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.
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Affiliation(s)
- Mehmet Uygur
- Biomechanics and Movement Science Graduate Program, University of Delaware, Newark, DE, USA
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Slota GP, Suh MS, Latash ML, Zatsiorsky VM. Stability control of grasping objects with different locations of center of mass and rotational inertia. J Mot Behav 2012; 44:169-78. [PMID: 22456054 DOI: 10.1080/00222895.2012.665101] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
Abstract
The objective of this study was to observe how the digits of the hand adjust to varying location of the center of mass (CoM) above or below the grasp and rotational inertia (RI) of a handheld object. Such manipulations do not immediately affect the equilibrium equations while stability control is affected. Participants were instructed to hold a handle, instrumented with 5 force-torque transducers and a 3-D rotational tilt sensor, while either the location of the CoM or the RI values were adjusted. On the whole, people use 2 mechanisms to adjust to the changed stability requirements; they increase the grip force and redistribute the total moment between the normal and tangential forces offsetting internal torques. The increase in grip force, an internal force, and offsetting internal torques allows for increases in joint and hand rotational apparent stiffness while not creating external forces-torques that would unbalance the equations of equilibrium.
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Affiliation(s)
- Gregory P Slota
- Kinesiology, Pennsylvania State University, University Park, PA 16802, USA.
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