Anticipatory Vibrotactile Cueing Facilitates Grip Force Adjustment during Perturbative Loading

A haptic illusion created by gravity

Human dexterity requires very fine and efficient control of fingertip forces, which relies on the integration of cutaneous and proprioceptive feedback. Here, we examined the influence of gravity on isometric force control. We trained participants to reproduce isometric vertical forces on a dynamometer held between the thumb and the index finger in normal gravity and tested them during parabolic flight creating phases of microgravity and hypergravity, thereby strongly influencing the motor commands and the proprioceptive feedback. We found that gravity creates the illusion that upward forces are larger than downward forces of the same magnitude. The illusion increased under hypergravity and was abolished under microgravity. Gravity also affected the control of the grip force employed to secure the grasp. These findings suggest that gravity biases the haptic estimation of forces, which has implications for the design of haptic devices to be used during flight or space activities.

Disrupting somatosensory processing impairs motor execution but not motor imagery

While motor imagery (MI) is thought to be 'functionally equivalent' with motor execution (ME), the equivalence of feedforward and feedback mechanisms between the two modalities is unexplored. Here, we tested the equivalence of these mechanisms between MI and ME via two experiments designed to probe the role of somatosensory processing (Exp 1), and cognitive processing (Exp 2). All participants were engaged in a previously established force-matching task adapted for MI. A reference force was applied (on scale of 1-10, with higher numbers indicative of greater force) to one index finger while participants matched the force with their opposite index finger via ME or MI (control conditions). Participants then rated the force on the same scale of 1-10. Exp 1: Participants (N = 27) performed the task with tactile stimulation (ME+TAC, MI+TAC) in addition to control conditions. Exp 2: Participants (N = 26) performed the task in dual-task conditions (ME+COG, MI+COG) in addition to control conditions. Results indicate that (Exp 1) tactile stimulation impaired performance in ME but not MI. Dual-task conditions (Exp 2) were not shown to impair performance in either practice modality. Findings suggest that while somatosensory processing is critical for ME, it is not for MI. Overall we indicate a functional equivalence between feedforward/back mechanisms in MI and ME may not exist.

Slip Detection Strategies for Automatic Grasping in Prosthetic Hands

The detection of an object slipping within the grasp of a prosthetic hand enables the hand to react to ensure the grasp is stable. The computer controller of a prosthetic hand needs to be able to unambiguously detect the slide from other signals. Slip can be detected from the surface vibrations made as the contact between object and terminal device shifts. A second method measures the changes in the normal and tangential forces between the object and the digits. After a review of the principles of how the signals are generated and the detection technologies are employed, this paper details the acoustic and force sensors used in versions of the Southampton Hand. Attention is given to the techniques used in the field. The performance of the Southampton tube sensor is explored. Different surfaces are slid past a sensor and the signals analysed. The resulting signals have low-frequency content. The signals are low pass filtered and the resulting processing results in a consistent response across a range of surfaces. These techniques are fast and not computationally intensive, which makes them practical for a device that is to be used daily in the field.

Neurophysiology of slip sensation and grip reaction: insights for hand prosthesis control of slippage

Sensory feedback is pivotal for a proficient dexterity of the hand. By modulating the grip force in function of the quick and not completely predictable change of the load force, grabbed objects are prevented to slip from the hand. Slippage control is an enabling achievement to all manipulation abilities. However, in hand prosthetics, the performance of even the most innovative research solutions proposed so far to control slippage remain distant from the human physiology. Indeed, slippage control involves parallel and compensatory activation of multiple mechanoceptors, spinal and supraspinal reflexes, and higher-order voluntary behavioral adjustments. In this work, we reviewed the literature on physiological correlates of slippage to propose a three-phases model for the slip sensation and reaction. Furthermore, we discuss the main strategies employed so far in the research studies that tried to restore slippage control in amputees. In the light of the proposed three-phase slippage model and from the weaknesses of already implemented solutions, we proposed several physiology-inspired solutions for slippage control to be implemented in the future hand prostheses. Understanding the physiological basis of slip detection and perception and implementing them in novel hand feedback system would make prosthesis manipulation more efficient and would boost its perceived naturalness, fostering the sense of agency for the hand movements.

Phase Difference Between Normal and Shear Forces During Tactile Exploration Represents Textural Features

Contact forces and skin deformation induced during tactile exploration have been investigated in the frequency domain to understand finger-material interaction. Their power spectra are one of the representative feature quantities that have been associated with the surface properties of materials. However, thus far, the phase information of these quantities has not been studied. Furthermore, most previous studies focused on uni-dimensional signals such as forces in either the normal or tangential directions. We investigated the phase differences between normal and shear forces induced during tactile exploration. The results showed that the phase differences between these two axial forces differ among materials and that they exhibit features different from their power spectra. These results indicate that the phase difference between two axial forces should be taken into account to understand the finger-material interactions during tactile exploration.