Multi-digit maximum voluntary torque production on a circular object

A Modular Hybrid Exoskeletal-Soft Glove for High Degree of Freedom Monitoring Capability

In this paper, we present a hybrid exoskeletal-soft glove for the application of on-axis angle sensors that can be placed close to the center of rotation of the digit joints. 3D printed exoskeletal digit segments that run medially on most digits connect to low friction bearings. Exoskeletal segments and bearings provide rigid fixation points for a variety of traditional angle sensors, while a combination of textile and rigid structure fixate exoskeletal digits to the digits and hand. Exoskeletal digits are designed modularly so that only required digits are used and to reduce difficulty in donning and doffing. On-axis measurement may prove useful in control or assessment tasks in rehabilitation. The articulation of the digits while wearing the glove is demonstrated, albeit without sensors, showing little restriction at an early stage of the design process. Exoskeletal metacarpophalangeal joints of the 3rd and 4th digits require more work as the flexion/extension joint axis is inaccessible and moves when he digits are articulated. The proposed device must be customized for an individual and will facilitate an alternative approach to existing hand posture monitoring techniques.

Synergies and Motor Equivalence in Voluntary Sway Tasks: The Effects of Visual and Mechanical Constraints

The authors used two analyses developed within the framework of the uncontrolled manifold hypothesis to quantify multimuscle synergies during voluntary body sway: analysis of intertrial variance and analysis of motor equivalence with respect to the center of pressure (COP) trajectory. Participants performed voluntary sway tasks in the anteroposterior direction at 0.33 and 0.66 Hz. Muscle groups were identified in the space of muscle activations and used as elemental variables in the synergy analyses. Changing mechanical and vision feedback-based constraints led to significant changes in indices of sway performance such as COP deviations in the uninstructed, mediolateral direction and indices of spontaneous postural sway. In contrast, there were no significant effects on synergy indices. These findings show that the neural control of performance and of its stability may involve different control variables and neurophysiological structures. There were strong correlations between the indices of motor equivalence and those computed using the intercycle variance analysis. This result is potentially important for studies of patients with movement disorders who may be unable to perform multiple trials (cycles) at any given task, making analysis of motor equivalence of single trials a viable alternative to explore changes in stability of actions.

Evaluation of Hand Forces During a Joint-Protection Strategy for Women With Hand Osteoarthritis

OBJECTIVE

We evaluated whether a joint-protection strategy changes the mechanics of opening a sealed jar.

METHOD

Thirty-one adult women with hand osteoarthritis attempted to open a "sealed" jar instrument when using and not using nonskid material. Grip force, torque, success, and pain were recorded for each trial.

RESULTS

Participants used less grip force when twisting with their left hand. The greatest torque and success, yet the least amount of grip force across time, and pain was noted when the left hand turned the lid, the jar was held vertically, the right hand supported the base, and nonskid material was used.

CONCLUSION

Women with hand osteoarthritis should be educated to consider the hand they use and their approach when opening sealed jars. Use of nonskid material without additional reasoning may increase load on arthritic joints, pain, and dysfunction. Additional research on task kinematics and the kinetics of the stabilizing hand is needed.

Independent digit contributions to rotational manipulation in a three-digit pouring task requiring dynamic stability

Many activities of daily living involve multi-digit, voluntary rotational manipulations of grasped objects. Yet, only a few studies have focused on coordination of individual fingertip forces during such tasks. The objective of this study was to investigate individual digit contributions to a three-digit task in which an object was rotationally manipulated against gravity. Center of mass was varied through the use of containers shaped like a water bottle, pint glass, and cocktail glass, from which subjects poured fluid carefully into a nearby receptacle. The center of mass of the grasped object changed continuously as fluid was poured out. Self-selected digit placement and contributions of fingertip forces to rotational manipulation were dependent upon anticipated center of mass location associated with container shape. The thumb resisted the rotation of the top-heavy, cocktail glass container until 79 % of the pouring phase had elapsed, but actively assisted the rotation of the less challenging containers. More directly opposing the thumb, the index finger contributed more to grasp stability. The middle finger contributed more to rotation of the container for pouring. It was found that the thumb, index, and middle fingers acted in unison temporally, but contributed independently to the grip forces and stabilizing moments throughout the dynamic, rotational manipulation task.

Prehension synergies during smooth changes of the external torque

We studied characteristics of digit action and their co-variation patterns across trials (prehension synergies) during static holding of an object while the external torque could change slowly and smoothly. The subjects held in the air an instrumented handle with an attachment that allowed a smooth change in the external torque over about 12 s; the load was always kept constant. Series of trials were performed under three conditions: The torque could be zero throughout the trial, or it could change slowly requiring a smooth change of the effort from a non-zero pronation value to zero (PR-0) or from a non-zero supination value to zero (SU-0). The handle was kept vertical at all times. Indices of variance and co-variation 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. We analyzed the total moment of force as the sum of the moments of force produced by the thumb and virtual finger and also as the sum of the moments of force produced by the normal forces and tangential forces. The results showed that the adjustments in the total moment of force were produced primarily with changes in the moment produced by the virtual finger and by changes in the moment produced by the normal forces. The normal force of the thumb at the final state (which was the same across conditions) was larger in the two conditions with changes in the external torque. The safety margin was significantly higher in the PR-0 condition, and it dropped with the decrease in the external torque. A co-contraction index was computed to reflect the moment of force production by the fingers acting against the total moment produced by the virtual finger. It was higher for the SU-0 condition. Most variance indices dropped with a decrease in the external torque. The co-variation indices, however, remained unchanged over the trial duration. They showed signs of a trade-off between the two levels of the assumed hierarchy: larger indices at the higher level corresponded to smaller indices at the lower level. This study and the previous one (Sun et al. in Exp Brain Res 209:571-585, 2011) document several previously unknown features of prehensile tasks. The results show that characteristics of digit action and interaction in such tasks depend not only on the magnitudes of external constraints but also on a variety of other factors including time changes in the constraints and their history.

Finger interaction in a three-dimensional pressing task

Accurate control of forces produced by the fingers is essential for performing object manipulation. This study examines the indices of finger interaction when accurate time profiles of force are produced in different directions, while using one of the fingers or all four fingers of the hand. We hypothesized that patterns of unintended force production among shear force components may involve features not observed in the earlier studies of vertical force production. In particular, we expected to see unintended forces generated by non-task fingers not in the direction of the instructed force but in the opposite direction as well as substantial force production in directions orthogonal to the instructed direction. We also tested a hypothesis that multi-finger synergies, quantified using the framework of the uncontrolled manifold hypothesis, will help reduce across-trials variance of both total force magnitude and direction. Young, healthy subjects were required to produce accurate ramps of force in five different directions by pressing on force sensors with the fingers of the right (dominant) hand. The index finger induced the smallest unintended forces in non-task fingers. The little finger showed the smallest unintended forces when it was a non-task finger. Task fingers showed substantial force production in directions orthogonal to the intended force direction. During four-finger tasks, individual force vectors typically pointed off the task direction, with these deviations nearly perfectly matched to produce a resultant force in the task direction. Multi-finger synergy indices reflected strong co-variation in the space of finger modes (commands to fingers) that reduced variability of the total force magnitude and direction across trials. The synergy indices increased in magnitude over the first 30% of the trial time and then stayed at a nearly constant level. The synergy index for stabilization of total force magnitude was higher for shear force components when compared to the downward pressing force component. The results suggest complex interactions between enslaving and synergic force adjustments, possibly reflecting the experience with everyday prehensile tasks. For the first time, the data document multi-finger synergies stabilizing both shear force magnitude and force vector direction. These synergies may play a major role in stabilizing the hand action during object manipulation.

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.

A systematic exploration of distal arm muscle activity and perceived exertion while applying external forces and moments

The purpose of this study was to systematically explore and describe the response of selected hand and forearm muscles during a wide range of static force and moment exertions. Twenty individuals with manual work experience performed exertions in power grip, pulp pinch and lateral pinch grips. Electromyography (EMG) from eight sites of the hand and forearm, grip force as well as ratings of perceived exertion (RPE) were monitored as each participant exerted approximately 350 short (5 s) static grip forces and external forces and moments. As expected, strong relationships were found between grip force alone without other actions and muscle activation. When the hand was used to grip and transmit forces and moments to the environment, the relationships between grip force and muscle activation were much weaker. Using grip force as a surrogate for forearm and hand tissue loading may therefore be misleading.

Stability of the multi-finger prehension synergy studied with transcranial magnetic stimulation

We used transcranial magnetic stimulation (TMS) to explore the stability of the three constituents of the multi-finger prehension synergy. Patterns of co-variation between mechanical variables produced by individual digits were used as indices of the prehension synergy. We tested hypotheses that TMS would violate these patterns and that different components of the prehension synergy would take different times to restore. Subjects held an instrumented handle with one of the three external load and one of the seven external torques statically in the air. Single-pulse TMS was applied unexpectedly over the hand projection in the contralateral hemisphere. The normal forces showed a quick TMS-induced increase that was proportional to the background force magnitude. This was also true for the tangential forces produced by the thumb, middle, and ring fingers but not by the index and little fingers. The total moment of force changed proportionally to its background value with predominance of supination responses. During the quick force response to TMS, patterns of digit force co-variation stabilizing the total tangential force and total moment of force were violated. Two stages of synergy restoration were identified taking approximately 0.3 and 1.5 s. These times differed among the three synergy components. The results support the idea of a prehension synergy as a neural mechanism that facilitates conjoint changes in forces produced by individual digits with the purpose to stabilize the hand action on the hand-held object. The data also support applicability of the principle of superposition to the human hand action.

The forces behind the words: development of the kinetic pen

This paper describes the creation of a Kinetic Pen capable of measuring the six-component force and torque that each of four individual contacts applies to the pen during writing. This was done by staggering the mounting of the four sensors along the long axis of the pen and having an extended arm run from the sensor to the grip site, preventing a clustering of the sensors where the digit tips meet while grasping. The implications of this tool allow handwriting studies to be expanded from two-dimensional pen-tip kinematics to three-dimensional dynamics at each contact point between the hand and pen.