Digit mechanics in relation to endpoint compliance during precision pinch

Control Modification of Grasp Force Covaries Agency and Performance on Rigid and Compliant Surfaces

This study investigated how modifications in the display of a computer trace under user control of grasp forces can co-modulate agency (perception of control) and performance of grasp on rigid and compliant surfaces. We observed positive correlation (p < 0.01) between implicit agency, measured from time-interval estimation for intentional binding, and grasp performance, measured by force-tracking error, across varying control modes for each surface type. The implications of this work are design directives for cognition-centered device interfaces for rehabilitation of grasp after neurotraumas such as spinal cord and brain injuries while considering if grasp interaction is rigid or compliant. These device interfaces should increase user integration to virtual reality training and powered assistive devices such as exoskeletons and prostheses. The modifications in control modes for this study included changes in force magnitude, addition of mild noise, and a measure of automation. Significant differences (p < 0.001) were observed for each surface type across control modes with metrics for implicit agency, performance, and grasp control efficiency. Explicit agency, measured from user survey responses, did not exhibit significant variations in this study, suggesting implicit measures of agency are needed for identifying co-modulation with grasp performance. Grasp on the compliant surface resulted in greater dependence of performance on agency and increases in agency and performance with the addition of mild noise. Noise in conjunction with perceived freedom at a flexible surface may have amplified visual feedback responses. Introducing automation in control decreased agency and performance for both surfaces, suggesting the value in continuous user control of grasp. In conclusion, agency and performance of grasp can be co-modulated across varying modes of control, especially for compliant grasp actions. Future studies should consider reliable measures of implicit agency, including physiological recordings, to automatically adapt rehabilitation interfaces for better cognitive engagement and to accelerate functional outcomes.

Fluctuations in Human Corticospinal Activity Prior to Grasp

Neuronal firing rate variability prior to movement onset contributes to trial-to-trial variability in primate behavior. However, in humans, whether similar mechanisms contribute to trial-to-trial behavioral variability remains unknown. We investigated the time-course of trial-to-trial variability in corticospinal excitability (CSE) using transcranial magnetic stimulation (TMS) during a self-paced reach-to-grasp task. We hypothesized that CSE variability will be modulated prior to the initiation of reach and that such a modulation would explain trial-to-trial behavioral variability. Able-bodied individuals were visually cued to plan their grip force before exertion of either 30% or 5% of their maximum pinch force capacity on an object. TMS was delivered at six time points (0.5, 0.75, 1, 1.1, 1.2, and 1.3 s) following a visual cue that instructed the force level. We first modeled the relation between CSE magnitude and its variability at rest (n = 12) to study the component of CSE variability pertaining to the task but not related to changes in CSE magnitude (n = 12). We found an increase in CSE variability from 1.2 to 1.3 s following the visual cue at 30% but not at 5% of force. This effect was temporally dissociated from the decrease in CSE magnitude that was observed from 0.5 to 0.75 s following the cue. Importantly, the increase in CSE variability explained at least ∼40% of inter-individual differences in trial-to-trial variability in time to peak force rate. These results were found to be repeatable across studies and robust to different analysis methods. Our findings suggest that the neural mechanisms underlying modulation in CSE variability and CSE magnitude are distinct. Notably, the extent of modulation in variability in corticospinal system prior to grasp within individuals may explain their trial-to-trial behavioral variability.

Effects of muscle fatigue on directional coordination of fingertip forces during precision grip

Object manipulation requires well-coordinated force vectors involving both magnitudes and directions. Despite extensive studies about force magnitudes during manipulation, relatively little is known how the muscle fatigue could affect the directional coordination of fingertip forces. This study aims to examine the effects of muscle fatigue on inter-digit coordination of force directions during precision grip. Sixteen female subjects performed precision grip with their thumb and index finger before and after fatigue tasks, which required subjects to produce continuous submaximal pinch strength on the apparatus for a duration more than 200 s. Both their left and right hands were evaluated using the same testing protocol. The means and standard deviations of the coordination angle and the projection angle were applied to quantify the directional coordination across the digits and the force vector direction of each individual digit. Results showed that fatigue led to significant reduction in the mean values of coordination angle and that of projection angle of the index finger in the ipsilateral hand (p < 0.05). Meanwhile, fatigue induced increases in both the standard deviations of coordination angle and projection angle of both digits in the ipsilateral hand (p < 0.05). These results imply that the muscle fatigue could interfere with the grasping stability by altering the directional coordination of all the involved digits and the control of force directions for each individual digit. These findings provide insights into fatigue-related changes of force directional regulation and coordination in dexterous manipulation.

Can upper limb taping or exercises improve hand function, writing speed and self-perception of performance in adolescent school children?

BACKGROUND

The majority of students spend time in writing, which is a prime performance measure in examinations. Enhancement in handwriting should benefit students to attain better academic performance.

OBJECTIVE

To assess the effectiveness of taping and exercises on hand function, writing speed, self-perception of writing and to compare these techniques.

METHODS

A randomized control trial was conducted using cluster sampling in adolescent children across four schools in an urban city. A 4-week intervention study was conducted on 123 students divided into taping, exercise and control groups. Outcome measures were grip strength, pinch strength, 12-min writing speed test and the Writer Self-Perception Scale (WSPS). For intra-group analysis, a paired t-test was used for parametric values and the Wilcoxon signed rank test was used for non-parametric values. For inter-group analysis, one-way analysis of variance (ANOVA) for parametric values and the Kruskal-Wallis test for non-parametric values was used.

RESULTS

The taping group showed a significant improvement in grip strength (1.79 kg; p = 0.00), pinch strength [1.67 lb (757.4 g); p = 0.00] and writing speed (39.77 words/12 min; p = 0.00). The exercise group showed significant improvement in grip strength (2.09 kg; p = 0.00), pinch strength (1.28 lb; p = 0.00), writing speed (28.38 words/12 min; p = 0.00). In the control group, there was a significant increase in pinch strength (1.023 lb; p = 0.01) and writing speed (12.94 words/12 min; p = 0.02). Inter-group analysis showed significant difference in writing speed (p = 0.002) and grip strength (p = 0.00). There was no significant difference in perception (p = 0.071).

CONCLUSION

Taping and exercise are equally effective for enhancement of hand function, writing speed and self-perception in adolescent school children.

Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand

The anatomically correct testbed (ACT) hand mechanically simulates the musculoskeletal structure of the fingers and thumb of the human hand. In this work, we analyze the muscle moment arms (MAs) and thumb-tip force vectors in the ACT thumb in order to compare the ACT thumb's mechanical structure to the human thumb. Motion data are used to determine joint angle-dependent MA models, and thumb-tip three-dimensional (3D) force vectors are experimentally analyzed when forces are applied to individual muscles. Results are presented for both a nominal ACT thumb model designed to match human MAs and an adjusted model that more closely replicates human-like thumb-tip forces. The results confirm that the ACT thumb is capable of faithfully representing human musculoskeletal structure and muscle functionality. Using the ACT hand as a physical simulation platform allows us to gain a better understanding of the underlying biomechanical and neuromuscular properties of the human hand to ultimately inform the design and control of robotic and prosthetic hands.