Wrist action affects precision grip force

Explaining the influence of practice on the grooved pegboard times of older adults: role of force steadiness

The purpose was to identify the variables that can explain the variance in the grooved pegboard times of older adults categorized as either fast or slow performers. Participants (n = 28; 60-83 years) completed two experimental sessions, before and after 6 practice sessions of the grooved pegboard test. The 2 groups were identified based on average pegboard times during the practice sessions. Average pegboard time during practice was 73 ± 11 s for the fast group and 85 ± 13 s for the slow group. Explanatory variables for the pegboard times before and after practice were the durations of 4 peg-manipulation phases and 12 measures of force steadiness (coefficient of variation [CV] for force) during isometric contractions with the index finger abductor and wrist extensor muscles. Time to complete the grooved pegboard test after practice decreased by 25 ± 11% for the fast group and by 28 ± 10% for the slow group. Multiple regression models explained more of the variance in the pegboard times for the fast group before practice (Adjusted R2 = 0.85) than after practice (R2 = 0.51), whereas the variance explained for the slow group was similar before (Adjusted R2 = 0.67) and after (Adjusted R2 = 0.64) practice. The explanatory variables differed between before and after practice for the fast group but only slightly for the slow group. These findings indicate that performance-based stratification of older adults can identify unique adjustments in motor function that are independent of chronological age.

Finger Movement Recognition via High-Density Electromyography of Intrinsic and Extrinsic Hand Muscles

Surface electromyography (sEMG) is commonly used to observe the motor neuronal activity within muscle fibers. However, decoding dexterous body movements from sEMG signals is still quite challenging. In this paper, we present a high-density sEMG (HD-sEMG) signal database that comprises simultaneously recorded sEMG signals of intrinsic and extrinsic hand muscles. Specifically, twenty able-bodied participants performed 12 finger movements under two paces and three arm postures. HD-sEMG signals were recorded with a 64-channel high-density grid placed on the back of hand and an 8-channel armband around the forearm. Also, a data-glove was used to record the finger joint angles. Synchronisation and reproducibility of the data collection from the HD-sEMG and glove sensors were ensured. The collected data samples were further employed for automated recognition of dexterous finger movements. The introduced dataset offers a new perspective to study the synergy between the intrinsic and extrinsic hand muscles during dynamic finger movements. As this dataset was collected from multiple participants, it also provides a resource for exploring generalized models for finger movement decoding.

Evaluating the impact of writing surface and configuration on muscle activation level during a handwriting task: An exploratory study

BACKGROUND: Tablets are ubiquitous in workplaces and schools. However, there have been limited studies investigating the effect tablets have on the body during digital writing activities. OBJECTIVE: This study investigated the biomechanical impact of writing interface design (paper, whiteboard, and tablet) and orientation (horizontal, 45°, and vertical) on tablet users. METHODS: Fourteen adults (7 male, 7 female) participated in a study during which they performed simple writing tasks. Surface electromyography (sEMG) sensors were used to measure upper extremity muscle activation. RESULTS: Results indicate that the effects of writing surface type were most pronounced in forearm muscle activation. Specifically, in the extensor carpi radialis (ECR), where muscle activity was lower on the tablet PC surface. The effects of writing configuration were prominent in the shoulder and forearm. The activation of the flexor carpi ulnaris (FCU) and trapezius muscles was significantly lower in the 45° configuration. An exception to the efficacy of this configuration was the anterior deltoid muscle, which exhibited the lowest muscle activity in the horizontal orientation. CONCLUSIONS: Tablet surface and the 45° configuration resulted in the lowest muscle activation levels. Future studies should include longer experiment duration to investigate the effects of continuous writing.

Kinetic Analysis of the Fingers Under Different Ball Velocities During Overarm Throwing

The purpose of this study is to examine changes in the kinetic parameters of the fingers caused by differences in ball velocity during overarm throwing. Six baseball players participated in the study, and the kinetics of the wrist and metacarpophalangeal (MP) joint were calculated using an inverse dynamics method. The results of Tukey's multiple comparison tests showed that the torque and work of the wrist increased with increasing ball velocity (p < .05), indicating that wrist torque and work contributed to the adjustment of ball velocity. Peak MP joint torque also increased with ball velocity (p < .05), although the work of the MP joint remained relatively constant. We conclude that MP joint torque and work contribute to the achievement of stable ball release rather than adjusting ball velocity.

Effects of the Proprioceptive Neuromuscular Facilitation Contraction Sequence on Motor Skill Learning-Related Increases in the Maximal Rate of Wrist Flexion Torque Development

Background: The proprioceptive neuromuscular facilitation (PNF) reciprocal contraction pattern has the potential to increase the maximum rate of torque development. However, it is a more complex resistive exercise task and may interfere with improvements in the maximum rate of torque development due to motor skill learning, as observed for unidirectional contractions. The purpose of this study was to examine the cost-benefit of using the PNF exercise technique to increase the maximum rate of torque development.

Methods: Twenty-six participants completed isometric maximal extension-to-flexion (experimental PNF group) or flexion-only (control group) contractions at the wrist. Ten of the assigned contractions were performed on each of three sessions separated by 48-h for skill acquisition. Retention was assessed with 5 contractions performed 2-weeks after acquisition. Torque and surface electromyographic (sEMG) activity were analyzed for evidence of facilitated contractions between groups, as well as alterations in muscle coordination assessed across test sessions. The criterion measures were: mean maximal isometric wrist flexion toque; the maximal rate of torque development (dτ/dt_max); root-mean-square error (RMSE) variability of the rate of torque versus torque phase-plane; the rate of wrist flexion muscle activation (Q₃₀); a coactivation ratio for wrist flexor and extensor sEMG activity; and wrist flexor electromechanical delay (EMD).

Results: There were no significant differences between groups with respect to maximal wrist flexion torque, dτ/dt_max or RMSE variability of torque trajectories. Both groups exhibited a progressive increase in maximal strength (+23.35% p < 0.01, η² = 0.655) and in dτ/dt_max (+19.84% p = 0.08, η² = 0.150) from the start of acquisition to retention. RMSE was lowest after a 2-week rest interval (−18.2% p = 0.04, η² = 0.198). There were no significant differences between groups in the rate of muscle activation or the coactivation ratio. There was a reduction in coactivation that was retained after a 2-week rest interval (−32.60%, p = 0.02, η² = 0.266). Alternatively, EMD was significantly greater in the experimental group (Δ 77.43%, p < 0.01, η² = 0.809) across all sessions. However, both groups had a similar pattern of improvement to the third consecutive day of testing (−16.82%, p = 0.049, η² = 0.189), but returned close to baseline value after the 2-week rest interval.

Discussion: The wrist extension-to-flexion contraction pattern did not result in a greater maximal rate of torque development than simple contractions of the wrist flexors. There was no difference between groups with respect to motor skill learning. The main adaptation in neuromotor control was a decrease in coactivation, not the maximal rate of muscle activation.

Force Steadiness: From Motor Units to Voluntary Actions

Voluntary actions are controlled by the synaptic inputs that are shared by pools of spinal motor neurons. The slow common oscillations in the discharge times of motor units due to these synaptic inputs are strongly correlated with the fluctuations in force during submaximal isometric contractions (force steadiness) and moderately associated with performance scores on some tests of motor function. However, there are key gaps in knowledge that limit the interpretation of differences in force steadiness.

Kinetic analysis of the wrist and fingers during fastball and curveball pitches

This study had two objectives: (a) revealing kinetic parameter differences at the fingers during a fastball and curveball, and (b) examining timing control between the wrist and finger torques. The participants were eight baseball pitchers. The kinetics of the wrist and fingers were calculated using an inverse dynamics method. The peak torque and work of finger adduction during the curveball was significantly larger than that during the fastball. During the fastball pitch, the maximal correlation coefficient between the wrist flexion torque and finger flexion torque was very high (r = 0.94 ± 0.05). The reasons for this result are twofold: (a) the extrinsic finger muscles cross the wrist (biarticular muscle) and (b) the wrist flexion torque during the fastball pitch acts in the direction of acceleration of the ball. During the curveball pitch, we found two typical types of wrist and finger torque control. Furthermore, the two pitchers exerted large wrist extension and radial torque, and finger adduction torque. Although the other six pitchers hardly exerted these torques, they exerted wrist flexion torque predominantly. It was considered that the six pitchers selected wrist flexion torque as the control for the fastball and curveball pitch to confuse the batter.

The effect of wrist posture on extrinsic finger muscle activity during single joint movements

Wrist posture impacts the muscle lengths and moment arms of the extrinsic finger muscles that cross the wrist. As a result, the electromyographic (EMG) activity associated with digit movement at different wrist postures must also change. We sought to quantify the posture-dependence of extrinsic finger muscle activity using bipolar fine-wire electrodes inserted into the extrinsic finger muscles of able-bodied subjects during unrestricted wrist and finger movements across the entire range of motion. EMG activity of all the recorded finger muscles were significantly different (p < 0.05, ANOVA) when performing the same digit movement in five different wrist postures. Depending on the wrist posture, EMG activity changed by up to 70% in individual finger muscles for the same movement, with the highest levels of activity observed in finger extensors when the wrist was extended. Similarly, finger flexors were most active when the wrist was flexed. For the finger flexors, EMG variations with wrist posture were most prominent for index finger muscles, while the EMG activity of all finger extensor muscles were modulated in a similar way across all digits. In addition to comprehensively quantifying the effect of wrist posture on extrinsic finger EMG activity in able-bodied subjects, these results may contribute to designing control algorithms for myoelectric prosthetic hands in the future.

Wrist Posture Does Not Influence Finger Interdependence

A task involving an instructed finger movement causes involuntary movements in the noninstructed fingers of the hand, also known as finger interdependence. It is associated with both mechanical and neural mechanisms. The current experiment investigated the effect of finger interdependence due to systematic changes of the wrist posture, close to neutral. Eight right-handed healthy human participants performed submaximal cyclic flexion and extension at the metacarpophalangeal joint at 0° neutral, 30° extension, and 30° flexion wrist postures, respectively. The experiment comprised of an instruction to move one of the 4 fingers-index, middle, ring, and little. Movements of the instructed and noninstructed fingers were recorded. Finger interdependence was quantified using enslavement matrix, individuation index, and stationarity index, and it was compared across wrist postures. The authors found that the finger interdependence does not change with changes in wrist posture. Further analysis showed that individuation and stationarity indices were mostly equivalent across wrist postures, and their effects were much smaller than the average differences present among the fingers. The authors conclude that at wrist postures close to neutral, the finger interdependence is not affected by wrist posture.

Referent control of anticipatory grip force during reaching in stroke: an experimental and modeling study

To evaluate normal and impaired control of anticipatory grip force (GF) modulation, we compared GF production during horizontal arm movements in healthy and post-stroke subjects, and, based on a physiologically feasible dynamic model, determined referent control variables underlying the GF-arm motion coordination in each group. 63% of 13 healthy and 48% of 13 stroke subjects produced low sustained initial force (< 10 N) and increased GF prior to arm movement. Movement-related GF increases were higher during fast compared to self-paced arm extension movements only in the healthy group. Differences in the patterns of anticipatory GF increases before the arm movement onset between groups occurred during fast extension arm movement only. In the stroke group, longer delays between the onset of GF change and elbow motion were related to clinical upper limb deficits. Simulations showed that GFs could emerge from the difference between the actual and the referent hand aperture (R_a) specified by the CNS. Similarly, arm movement could result from changes in the referent elbow position (R_e) and could be affected by the co-activation (C) command. A subgroup of stroke subjects, who increased GF before arm movement, could specify different patterns of the referent variables while reproducing the healthy typical pattern of GF-arm coordination. Stroke subjects, who increased GF after arm movement onset, also used different referent strategies than controls. Thus, altered anticipatory GF behavior in stroke subjects may be explained by deficits in referent control.

Kinetic Analysis of Fingers During Aimed Throwing

This study had two objectives: (a) revealing the difference in finger segments between the conventional and finger models during aimed throwing and (b) examining the central nervous system's timing control between the wrist torque and finger torque. Participants were seven baseball players. Finger kinetics was calculated by an inverse dynamics method. In the conventional model, wrist flexion torque was smaller than that in the finger model because of the error in ball position approximation. The maximal correlation coefficient between the wrist torque and finger torque was high (r = .85 ± .10), and the time lag at maximal correlation coefficient was small (t = 0.36 ± 3.02 ms). The small timing delay between the wrist torque and finger torque greatly influenced ball trajectory. We conclude that, to stabilize release timing, the central nervous system synchronized the wrist torque and finger torque by feed-forward adjustments.

Variability in common synaptic input to motor neurons modulates both force steadiness and pegboard time in young and older adults

KEY POINTS

The fluctuations in force during a steady isometric contraction (force steadiness) are associated with oscillations in common synaptic input to the involved motor neurons. Decreases in force steadiness are associated with increases in pegboard times in older adults, although a mechanism for this link has not been established. We used a state-space model to estimate the variability in common synaptic input to motor neurons during steady, isometric contractions. The estimate of common synaptic input was derived from the discharge times of motor units as recorded with high-density surface electrodes. We found that the variability in common synaptic input to motor neurons modulates force steadiness for young and older adults, as well as pegboard time for older adults.

ABSTRACT

We investigated the associations between grooved pegboard times, force steadiness (coefficient of variation for force) and variability in an estimate of the common synaptic input to motor neurons innervating the wrist extensor muscles during steady contractions performed by young and older adults. The discharge times of motor units were derived from recordings obtained with high-density surface electrodes when participants performed steady isometric contractions at 10% and 20% of maximal voluntary contraction force. The steady contractions were performed with a pinch grip and wrist extension, both independently (single action) and concurrently (double action). The variance in common synaptic input to motor neurons was estimated with a state-space model of the latent common input dynamics. There was a statistically significant association between the coefficient of variation for force during the steady contractions and the estimated variance in common synaptic input in young (r2  = 0.31) and older (r2  = 0.39) adults, although not between either the mean or the coefficient of variation for interspike interval of single motor units with the coefficient of variation for force. Moreover, the estimated variance in common synaptic input during the double-action task with the wrist extensors at the 20% target was significantly associated with grooved pegboard time (r2  = 0.47) for older adults but not young adults. These findings indicate that longer pegboard times of older adults were associated with worse force steadiness and greater fluctuations in the estimated common synaptic input to motor neurons during steady contractions.

Human-Inspired Reflex to Autonomously Prevent Slip of Grasped Objects Rotated with a Prosthetic Hand

Autonomously preventing grasped objects from slipping out of prosthetic hands is an important feature for limb-absent people since they cannot directly feel the grip force applied to grasped objects. Oftentimes, a satisfactory grip force in one situation will be inadequate in different situations, such as when the object is rotated or transported. Over time, people develop a grip reflex to prevent slip of grasped objects when they are rotated with respect to gravity by their natural hands. However, this reflexive trait is absent in commercially available prosthetic hands. This paper explores a human-inspired grasp reflex controller for prosthetic hands to prevent slip of objects when they are rotated. This novel human-inspired grasped object slip prevention controller is evaluated with 6 different objects in benchtop tests and by 12 able-bodied subjects during human experiments replicating realistic tasks of daily life. An analysis of variance showed highly significant improvement in the number of successfully completed cycles for both the benchtop and human tests when the slip prevention reflex was active. An object sorting task, which was designed to serve as a cognitive distraction for the human subjects while controlling the prosthetic hand, had a significant impact on many of the performance metrics. However, assistance from the novel slip prevention reflex mitigated the effects of the distraction, offering an effective method for reducing both object slip and the required cognitive load from the prosthetic hand user.

Motor adaptation capacity as a function of age in carrying out a repetitive assembly task at imposed work paces

The working population is getting older. Workers must adapt to changing conditions to respond to the efforts required by the tasks they have to perform. In this laboratory-based study, we investigated the capacities of motor adaptation as a function of age and work pace. Two phases were identified in the task performed: a collection phase, involving dominant use of the lower limbs; and an assembly phase, involving bi-manual motor skills. Results showed that senior workers were mainly limited during the collection phase, whereas they had less difficulty completing the assembly phase. However, senior workers did increase the vertical force applied while assembling parts, whatever the work pace. In younger and middle-aged subjects, vertical force was increased only for the faster pace. Older workers could adapt to perform repetitive tasks under different time constraints, but adaptation required greater effort than for younger workers. These results point towards a higher risk of developing musculoskeletal disorders among seniors.

Control of force during rapid visuomotor force-matching tasks can be described by discrete time PID control algorithms

Force trajectories during isometric force-matching tasks involving isometric contractions vary substantially across individuals. In this study, we investigated if this variability can be explained by discrete time proportional, integral, derivative (PID) control algorithms with varying model parameters. To this end, we analyzed the pinch force trajectories of 24 subjects performing two rapid force-matching tasks with visual feedback. Both tasks involved isometric contractions to a target force of 10% maximal voluntary contraction. One task involved a single action (pinch) and the other required a double action (concurrent pinch and wrist extension). 50,000 force trajectories were simulated with a computational neuromuscular model whose input was determined by a PID controller with different PID gains and frequencies at which the controller adjusted muscle commands. The goal was to find the best match between each experimental force trajectory and all simulated trajectories. It was possible to identify one realization of the PID controller that matched the experimental force produced during each task for most subjects (average index of similarity: 0.87 ± 0.12; 1 = perfect similarity). The similarities for both tasks were significantly greater than that would be expected by chance (single action: p = 0.01; double action: p = 0.04). Furthermore, the identified control frequencies in the simulated PID controller with the greatest similarities decreased as task difficulty increased (single action: 4.0 ± 1.8 Hz; double action: 3.1 ± 1.3 Hz). Overall, the results indicate that discrete time PID controllers are realistic models for the neural control of force in rapid force-matching tasks involving isometric contractions.

Force steadiness as a predictor of time to complete a pegboard test of dexterity in young men and women

The purpose of the study was to evaluate the capacity of an expanded set of force steadiness tasks to explain the variance in the time it takes young men and women to complete the grooved pegboard test. In a single experimental session, 30 participants (mean ± SD) (24.2 ± 4.0 yr; 15 women) performed the grooved pegboard test, two tests of hand speed, measurements of muscle strength, and a set of submaximal, steady contractions. The steadiness tasks involved single and double actions requiring isometric contractions in the directions of wrist extension, a pinch between the index finger and thumb, and index finger abduction. Time to complete the grooved pegboard test ranged from 41.5 to 67.5 s. The pegboard times (53.9 ± 6.2 s) were not correlated with any of the strength measurements or the reaction time test of hand speed. A stepwise, multiple-regression analysis indicated that much of the variance (R(2) = 0.70) in pegboard times could be explained by a model that comprised two predictor variables derived from the steadiness tasks: time to match the target during a rapid force-matching task and force steadiness (coefficient of variation for force) during a single-action task. Moreover, the pegboard times were significantly faster for women (51.7 ± 6.8 s) than men (56.1 ± 4.9 s). Participants with slower pegboard times seemed to place a greater emphasis on accuracy than speed as they had longer times to match the target during the rapid force-matching task and exhibited superior force steadiness during the single-action task.

Proximal arm kinematics affect grip force-load force coordination

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).

Biomechanical analyses of prolonged handwriting in subjects with and without perceived discomfort

Since wrist-joint position affects finger muscle length and grip strength, we studied its biomechanical relevance in prolonged handwriting. We recruited participants from young adults, aged 18-24, and separated them into control (n=22) and in-pain (n=18) groups, based whether or not they experience pain while handwriting. The participants then performed a writing task for 30 min on a computerized system which measured their wrist-joint angle and documented their handwriting kinematics. The in-pain group perceived more soreness and had a less-extended wrist joint, longer on-paper time, and slower stroke velocity compared to control group. There was no significant difference in handwriting speed and quality between the two groups. The wrist extension angle significantly correlated with perceived soreness. Ergonomic and biomechanical analyses provide important information about the handwriting process. Knowledge of pen tip movement kinematics and wrist-joint position can help occupational therapists plan treatment for individuals with handwriting induced pain.

Grasp-Dependent Slip Prevention for a Dexterous Artificial Hand via Wrist Velocity Feedback

A proportional controller is compared to a nonlinear backstepping controller with four different grasps for a dexterous anthropomorphic hand. A bioinspired grasp-dependent control scheme which autonomously modulates the grip force using wrist velocity feedback to prevent grasped object slip is also introduced. Four different grasp types are evaluated to illustrate how the wrist velocity feedback architecture must differ depending upon the manner in which objects are grasped. The backstepping controller can successfully increase grip force with wrist velocity in a robustly stable bioinspired fashion. Experimental results show that the developed backstepping controller improves the position tracking abilities for multiple periodic inputs, as well as reduces step input overshoot. The slip prevention capabilities of the backstepping controller are also demonstrated and compared to the proportional control scheme. Results of the slip prevention experiments show that both the grasp type and manipulator orientation with respect to gravity are significant factors in the performance of the controllers. The backstepping control scheme significantly improves slip prevention of grasped objects for multiple grasps and in two different orientations with respect to gravity.

The effect of finger joint hypomobility on precision grip force

STUDY DESIGN

Repeated measures experiment.

INTRODUCTION

Traumatic injuries and certain other diseases of the hand typically affect mobility of the finger joints. Decreased mobility may alter grip force control while one is grasping and lifting objects. However, the effect of finger joint hypomobility on grip force control has not yet been systematically investigated.

PURPOSE OF THE STUDY

The aim of this study was to investigate the effects of limited finger joint mobility, without other associated symptoms like pain, or sensory/proprioceptive deficits, on precision grip force control.

METHODS

Fifteen healthy subjects performed a pinching and lifting task of an object equipped with a force sensor and an accelerometer, via opposition of the thumb and index finger, in the following experimental conditions: unrestricted finger joint movement (UJM), restricted finger flexion (RFF), restricted finger extension (RFE), mock restricted flexion (MRF), mock restricted extension (MRE). The following pinch force variables were measured and analyzed: grip force at lift off, grip force peak, load force peak, latency, and static force.

RESULTS

A significant increase in latency (F = 4.41, p < 0.01) was noted during RFE relative to UJM and MRF conditions. There were no statistically-significant differences between the conditions among the other variables of precision grip force control.

CONCLUSIONS

Limited joint mobility of the thumb and index finger may cause temporal changes in precision grip force control, which can lead to reduced manual dexterity. Restoring range of motion might be an important priority to improve thumb-index pinch force control during manipulative tasks.

A descriptive study on wrist and hand sensori-motor impairment and function following distal radius fracture intervention

STUDY DESIGN

Descriptive cross-sectional design.

INTRODUCTION

Wrist and hand sensori-motor impairment have been observed after distal radius fracture (DRF) treatment. This impairment and its relationship to function lack research.

PURPOSE OF THE STUDY

The primary aim of this exploratory study was to determine the magnitude of wrist and hand sensori-motor impairment following surgical and non-surgical treatment among older patients following DRF. Secondary aims were to determine the relationship between wrist and hand sensori-motor impairment with function and pain as well as the relationships among wrist and hand sensori-motor impairment and function and age following DRF.

METHODS

Ten Test (TT), active joint position sense (JPS), electromyography (EMG), computerized hand-grip dynamometer (CHD), and the Patient-Rated Wrist Evaluation (PRWE) were used to assess twenty-four female participants 8 weeks following DRF treatment and their 24 matched-control healthy counterparts on wrist and hand sensibility, proprioception, muscle recruitment, grip force, muscle fatigue, and functional status.

RESULTS

Participants following DRF demonstrated significantly (p < .05) greater sensory (i.e., JPS, TT), and motor (i.e., EMG, CHD) deficits than their control counterparts. A significantly higher functional deficit (i.e., PRWE) also existed among participants following DRF than the control group. Participants following surgical and non-surgical DRF treatment were found to be statistically different only on total grip force. Group differences on JPS and total grip force revealed the strongest effect size with the highest correlations to PRWE. EMG and muscle fatigue ratio group differences revealed a weaker effect size with a fair degree of correlation to PRWE. Pain significantly correlated with sensori-motor function. Age did not correlate with any measured variable.

CONCLUSIONS

Significant wrist and hand sensori-motor impairment and functional deficits among older females 8 weeks following DRF surgical and non-surgical interventions were revealed. JPS and total grip force were the most clinically meaningful tests for assessing the sensori-motor status as well as explaining functional disability and pain levels for these patients.

LEVEL OF EVIDENCE

2c.

Finger-thumb coupling contributes to exaggerated thumb flexion in stroke survivors

The purpose of this study was to investigate altered finger-thumb coupling in individuals with chronic hemiparesis poststroke. First, an external device stretched finger flexor muscles by passively rotating the metacarpophalangeal (MCP) joints. Subjects then performed isometric finger or thumb force generation. Forces/torques and electromyographic signals were recorded for both the thumb and finger muscles. Stroke survivors with moderate (n = 9) and severe (n = 9) chronic hand impairment participated, along with neurologically intact individuals (n = 9). Stroke survivors exhibited strong interactions between finger and thumb flexors. The stretch reflex evoked by stretch of the finger flexors of stroke survivors led to heteronymous reflex activity in the thumb, while attempts to produce isolated voluntary finger MCP flexion torque/thumb flexion force led to increased and undesired thumb force/finger MCP torque production poststroke with a striking asymmetry between voluntary flexion and extension. Coherence between the long finger and thumb flexors estimated using intermuscular electromyographic correlations, however, was small. Coactivation of thumb and finger flexor muscles was common in stroke survivors, whether activation was evoked by passive stretch or voluntary activation. The coupling appears to arise from subcortical or spinal sources. Flexor coupling between the thumb and fingers seems to contribute to undesired thumb flexor activity after stroke and may impact rehabilitation outcomes.

Self-selected duty cycle times for grip force, wrist flexion postures and three grip types

Performance and health issues are common in industry. On-the-job productivity gains related to good design, which could help justify ergonomics intervention, are often not considered. More quantitative data are needed to model the discomfort/productivity relationship for upper limb activity in simulated repetitive assembly type work. Eighteen participants completed an experiment, simulating a repetitive upper limb task with force, posture and grip type recorded as independent variables. Duty cycle time and discomfort were recorded as dependent variables. Participants performed 18 experiment combinations (block designed around force); each treatment lasted 35 min, including breaks. Analysis indicated a significant two-way interaction between posture and grip type. Results from this experiment were used to model the effect of these variables on operator discomfort and performance.

Computational model of precision grip in Parkinson's disease: a utility based approach

We propose a computational model of Precision Grip (PG) performance in normal subjects and Parkinson's Disease (PD) patients. Prior studies on grip force generation in PD patients show an increase in grip force during ON medication and an increase in the variability of the grip force during OFF medication (Ingvarsson et al., 1997; Fellows et al., 1998). Changes in grip force generation in dopamine-deficient PD conditions strongly suggest contribution of the Basal Ganglia, a deep brain system having a crucial role in translating dopamine signals to decision making. The present approach is to treat the problem of modeling grip force generation as a problem of action selection, which is one of the key functions of the Basal Ganglia. The model consists of two components: (1) the sensory-motor loop component, and (2) the Basal Ganglia component. The sensory-motor loop component converts a reference position and a reference grip force, into lift force and grip force profiles, respectively. These two forces cooperate in grip-lifting a load. The sensory-motor loop component also includes a plant model that represents the interaction between two fingers involved in PG, and the object to be lifted. The Basal Ganglia component is modeled using Reinforcement Learning with the significant difference that the action selection is performed using utility distribution instead of using purely Value-based distribution, thereby incorporating risk-based decision making. The proposed model is able to account for the PG results from normal and PD patients accurately (Ingvarsson et al., 1997; Fellows et al., 1998). To our knowledge the model is the first model of PG in PD conditions.

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.

Hand pressure distribution during Oldowan stone tool production

Modern humans possess a highly derived thumb that is robust and long relative to the other digits, with enhanced pollical musculature compared with extant apes. Researchers have hypothesized that this anatomy was initially selected for in early Homo in part to withstand high forces acting on the thumb during hard hammer percussion when producing stone tools. However, data are lacking on loads experienced during stone tool production and the distribution of these loads across the hand. Here we report the first quantitative data on manual normal forces (N) and pressures (kPa) acting on the hand during Oldowan stone tool production, captured at 200 Hz. Data were collected from six experienced subjects replicating Oldowan bifacial choppers. Our data do not support hypotheses asserting that the thumb experiences relatively high loads when making Oldowan stone tools. Peak normal force, pressure, impulse, and the pressure/time integral are significantly lower on the thumb than on digits 2 and/or digit 3 in every subject. Our findings call into question hypotheses linking modern human thumb robusticity specifically to load resistance during stone tool production.

Coordination of intrinsic and extrinsic hand muscle activity as a function of wrist joint angle during two-digit grasping

Fingertip forces result from the activation of muscles that cross the wrist and muscles whose origins and insertions reside within the hand (extrinsic and intrinsic hand muscles, respectively). Thus, tasks that involve changes in wrist angle affect the moment arm and length, hence the force-producing capabilities, of extrinsic muscles only. If a grasping task requires the exertion of constant fingertip forces, the Central Nervous System (CNS) may respond to changes in wrist angle by modulating the neural drive to extrinsic or intrinsic muscles only or by co-activating both sets of muscles. To distinguish between these scenarios, we recorded electromyographic (EMG) activity of intrinsic and extrinsic muscles of the thumb and index finger as a function of wrist angle during a two-digit object hold task. We hypothesized that changes in wrist angle would elicit EMG amplitude modulation of the extrinsic and intrinsic hand muscles. In one experimental condition we asked subjects to exert the same digit forces at each wrist angle, whereas in a second condition subjects could choose digit forces for holding the object. EMG activity was significantly modulated in both extrinsic and intrinsic muscles as a function of wrist angle (both p<0.05) but only for the constant force condition. Furthermore, EMG modulation resulted from uniform scaling of EMG amplitude across all muscles. We conclude that the CNS controlled both extrinsic and intrinsic muscles as a muscle synergy. These findings are discussed within the theoretical frameworks of synergies and common neural input across motor nuclei of hand muscles.

Intermanual transfer of sensorimotor memory for grip force when lifting objects: the role of wrist angulation

OBJECTIVE

To investigate the mechanisms underlying the intermanual transfer of sensorimotor memory when lifting an object.

METHODS

Twenty healthy subjects grasped and lifted an object with constant mechanical properties with the right hand (RH) first and then with the left hand (LH). Ten of the subjects lifted the object with the RH in a regular wrist angulation (WA), followed by lifts with the LH in a regular WA. The remaining 10 subjects lifted the object with the RH in a hyper-flexed WA, followed by lifts with the LH in a regular WA.

RESULTS

Subjects generated greater peak grip force (GF) rates, grip and lift forces when lifting the object with the wrist in a regular WA compared to lifts with the wrist in hyper-flexion. Importantly, subjects transferred the predictive scaling of GF from the RH to the LH, regardless of the WA.

CONCLUSIONS

Biomechanical properties of the object do not seem to be used by the CNS as a first line information to evaluate GF when handling an object or transferring information about the grasp to the opposite hemisphere.

SIGNIFICANCE

The predictive scaling of GF rather reflects an internal sense of effort than an internal representation of the mechanical object properties.

Sensorimotor processing in the grip-lift task: the impact of maximum wrist flexion/extension on force scaling

OBJECTIVE

To evaluate the effect of wrist angulation on the grip force (GF) scaling in healthy subjects.

METHODS

The first experiment investigated if hyperflexion or hyperextension of the wrist affects the scaling of GF. Subjects performed sets of 10 lifts with the wrist positioned in (i) a self-chosen, regular, slightly extended angulation, (ii) a hyperextended angulation and (iii) a hyperflexed angulation. The second experiment tested if wrist angulation applied during a preceding lift influenced GF scaling when lifting the object with a predefined wrist angulation.

RESULTS

Compared with the regular and hyperflexed wrist angulations, subjects generated an overshoot of GF when lifting the object with the wrist hyperextended. Irrespective of the wrist angulation applied in the preceding lift, subjects generated an overshoot of GF when lifting the object with the wrist hyperextended, but not during lifts with the wrist in a regular or hyperflexed angulation.

CONCLUSIONS

We demonstrate that a change in the horizontal angulation of the wrist of the grasping hand interferes with the scaling of GF.

SIGNIFICANCE

We interpret these data to reflect a very basic strategic response of the motor system to changes in the geometry of the hand in order to ensure grasp stability.

Effect of handrail shape on graspability

This paper summarizes research performed to evaluate the impact of handrail profile dimensions on graspability. It reports on research performed to determine the forces that stairway users exert on handrails when they fall, tests demonstrating the forces persons with various hand sizes can exert on handrails with different profiles, and comparisons of the probability of loss of grip by stairway users when they attempt to arrest a fall by grasping a handrail. The recommendations based on this work include specific definitions of the shapes of handrails that are deemed to be sufficiently graspable to constitute functional handrails.

Multi-digit control of contact forces during rotation of a hand-held object

Rotation of an object held with three fingers is produced by modulation of force amplitude and direction at one or more contact points. Changes in the moment arm through which these forces act can also contribute to the modulation of the rotational moment. Therefore force amplitude and direction as well as the center of pressure on each contact surface must be carefully coordinated to produce a rotation. Because there is not a single solution, this study sought to describe consistent strategies for simple position-to-position rotations in the pitch, roll, and yaw axes. Force amplitude and direction, and center of pressure on the contact surfaces (and thus the moment arm), were measured as human subjects rotated a 420 g force-transducer instrumented object, grasped with the thumb, index and ring fingers (average movement time: 500 ms). Electromyographic (EMG) activity was recorded from five intrinsic and three extrinsic hand muscles and two wrist muscles. Principal components analysis of force and EMG revealed just two main temporal patterns: the main one followed rotational position and the secondary one had a time course that resembled that of rotational velocity. Although the task could have been accomplished by dynamic modulation of the activity of wrist muscles alone, these two main dynamic EMG patterns were seen in intrinsic hand muscles as well. In contrast to previous reports of shifting in time of the phasic activity bursts of various muscles, in this task, all EMG records were well described by just two temporal patterns, resembling the position and velocity traces.

Dynamic influence of wrist flexion and extension on the intracortical inhibition of the first dorsal interosseus muscle during precision grip

This work questioned further the influence of wrist movements on the control of precision grip. Seated subjects wearing a full-arm orthosis with the wrist and hand free were instructed to maintain a thumb/index finger opposition corresponding to 15% of maximal voluntary contraction for the first dorsal interosseus (FDI). Paired-pulse transcranial magnetic stimulation eliciting conditioned MEPs of FDI was used to determine the modulation of short intracortical inhibition (SICI) during cyclic active and passive wrist flexion and extension and during a static condition (no wrist movement, hand in the neutral position). The FDI active motor threshold (AMT) and the conditioning stimulus (0.8 AMT) were assessed in each series of FDI SICI measurements and the test stimulus (TS) was adjusted to match the amplitudes of test FDI MEPs across conditions. An increase of FDI background EMG during active wrist flexion compared to extension in some subjects did not influence FDI SICI as tested at matched EMG levels in the static condition. FDI SICI was reduced during wrist flexion (whether active or passive) compared to wrist extension, the latter being of equivalent FDI SICI as in the static condition. We suggest that wrist flexion and precision grip could be linked in a functional proximo-distal synergy. Indeed, coupling the activity between M1 sites of wrist flexors and FDI muscle via cortico-cortical disinhibition of FDI site may help recruit the interjoint synergy. Also, the salience of afferent information from wrist muscles may contribute to the phase-dependent modulation of SICI in the preactivated FDI muscle.

Dynamic changes in corticospinal control of precision grip during wrist movements

This work tested the physiological basis underlying the control of a proximo-distal muscle coordination. Using transcranial magnetic stimulation (TMS) of the hand territory within the primary motor cortex (M1), we examined whether the corticospinal excitability of the first dorsal interosseus muscle (FDI, index abductor), engaged in a precision grip, was altered during wrist movements. To this end, 12 seated subjects maintained a pinch between the right index finger and the thumb and FDI motor evoked potentials (MEPs) were elicited under four conditions: (1) during active and (2) passive cyclic wrist flexion/extension, (3) in three positions of static wrist flexion and extension, respectively, and (4) at three levels of isometric force of wrist flexors (FCR) and extensors (ECR) respectively. FDI MEPs were normalized relative to the MEP/EMG linear relationship. They were facilitated during wrist flexion in the active and the passive conditions and this did not depend on FDI background EMG. Interestingly, the occurrence of the most facilitated FDI MEPs was correlated only with the peak of FCR activity. Also, the duration of the post-MEP silent periods normalized to FDI MEP amplitudes was shorter during wrist flexion compared to extension. We discussed the extent to which the dynamic influence of wrist flexion on FDI corticospinal excitability reflects the existence of a proximo-distal synergy between wrist flexion and precision grip and whether this synergy relies on the phase-dependent recruitment of common M1 networks between FCR and FDI muscles and on the salience of proprioceptive afferents from wrist muscles.

Control of 3D Limb Dynamics in Unconstrained Overarm Throws of Different Speeds Performed by Skilled Baseball Players

This study investigated how the human CNS organizes complex three-dimensional (3D) ball-throwing movements that require both speed and accuracy. Skilled baseball players threw a baseball to a target at three different speeds. Kinematic analysis revealed that the fingertip speed at ball release was mainly produced by trunk leftward rotation, shoulder internal rotation, elbow extension, and wrist flexion in all speed conditions. The study participants adjusted the angular velocities of these four motions to throw the balls at three different speeds. We also analyzed the dynamics of the 3D multijoint movements using a recently developed method called “nonorthogonal torque decomposition” that can clarify how angular acceleration about a joint coordinate axis (e.g., shoulder internal rotation) is generated by the muscle, gravity, and interaction torques. We found that the study participants utilized the interaction torque to generate larger angular velocities of the shoulder internal rotation, elbow extension, and wrist flexion. To increase the interaction torque acting at these joints, the ball throwers increased muscle torque at the shoulder and trunk but not at the elbow and wrist. These results indicates that skilled ball throwers adopted a hierarchical control in which the proximal muscle torques created a dynamic foundation for the entire limb motion and beneficial interaction torques for distal joint rotations.

Dynamic force-sharing in multi-digit task

BACKGROUND

Dynamic hand grasping implies sophisticated motor coordination. Most knowledge on motor synergies used in grasping is deduced from experiments based on static precision grip. This experiment was aimed at better understanding the mechanisms of finger force-sharing in an active, dynamic hand task under repetitive strain conditions.

METHODS

A multi-digit task consisting of holding a cylinder with the digit tips, in which the thumb and the finger opposed each other, was investigated during repetitive unidirectional wrist flexion and extension cyclic motion. Finger and thumb forces and wrist angular position were simultaneously recorded during repetitive wrist motion against 0.3-0.6 Nm load in 10 healthy adults.

FINDINGS

Load torques acting during wrist movements produced in-phase increases of the thumb and the finger forces with the wrist extension and the wrist flexion, respectively. Digit forces increased proportionally to the applied load. The alternating rise of thumb and finger forces changed instantaneously at the end of the flexion and extension phases of the movement, respectively. Six subjects predominantly used the index finger, two the middle finger, one the ring finger, and the remaining one used the small finger during wrist flexion against 0.6 Nm to perform the task. Variations among individual finger forces were negatively correlated during the phase of constant rotational velocity of the wrist flexion. Repeated measures ANOVA revealed that the percentage of individual finger contribution to the total fingers' force significantly varied during the wrist flexion (P<0.0001) and among wrist flexion cycles (P<0.0001) in each subject.

INTERPRETATION

Variations in finger force-sharing among cycles were not necessitated by task dependent activities, as the task was identical. These findings indicated that motor coordination of repeated multi-finger task allowed redundant solutions in finger force-sharing. The force-sharing variation may reflect a minimal intervention principle of the central nervous system controlling only the goal-directed parameters and might help to prevent muscle fatigue in repetitive tasks through modulation of activity in multi-digit muscles.

Internal forces during object manipulation

Internal force is a set of contact forces that does not disturb object equilibrium. The elements of the internal force vector cancel each other and, hence, do not contribute to the resultant (manipulation) force acting on the object. The mathematical independence of the internal and manipulation forces allows for their independent (decoupled) control realized in robotic manipulators. To examine whether in humans internal force is coupled with the manipulation force and what grasping strategy the performers utilize, the subjects (n=6) were instructed to make cyclic arm movements with a customized handle. Six combinations of handle orientation and movement direction were tested. These involved: parallel manipulations (1) VV task (vertical orientation and vertical movement) and (2) HH task (horizontal orientation and horizontal movement); orthogonal manipulations (3) VH task (vertical orientation and horizontal movement) and (4) HV task (horizontal orientation and vertical movement); and diagonal manipulations (5) DV task (diagonal orientation and vertical movement) and (6) DH task (diagonal orientation and horizontal movement). Handle weight (from 3.8 to 13.8 N), and movement frequency (from 1 to 3 Hz) were systematically changed. The analysis was performed at the thumb-virtual finger level (VF, an imaginary finger that produces a wrench equal to the sum of wrenches produced by all the fingers). At this level, the forces of interest could be reduced to the internal force and internal moment. During the parallel manipulations, the internal (grip) force was coupled with the manipulation force (producing object acceleration) and the thumb-VF forces increased or decreased in phase: the thumb and VF worked in synchrony to grasp the object more strongly or more weakly. During the orthogonal manipulations, the thumb-VF forces changed out of phase: the plots of the internal force vs. object acceleration resembled an inverted letter V. The HV task was the only task where the relative phase (coupling) between the normal forces of the thumb and VF depended on oscillation frequency. During the diagonal manipulations, the coupling was different in the DV and DH tasks. A novel observation of substantial internal moments is described: the moments produced by the normal finger forces were counterbalanced by the moments produced by the tangential forces such that the resultant moments were close to zero. Implications of the findings for the notion of grasping synergies are discussed.

Effect of human grip strategy on force control in precision tasks

Alternate grip strategies are often used for object manipulation in individuals with sensorimotor deficits. To determine the effect of grip type on force control, ten healthy adult subjects were asked to grip and lift a small manipulandum using a traditional precision grip (lateral pinch), a pinch grip with the fingers oriented downwards (downward pinch) and a "key grip" between the thumb and the side of the index finger. The sequence of grip type and hand used was varied randomly after every ten lifts. Each of the three grips resulted in different levels of force, with the key grip strategy resulting in the greatest grip force and the downward pinch grip using the least amount of grip force to lift the device. Cross-correlation analysis revealed that the ability to scale accurately the rate of grip force and load force changes was lowest in the downward pinch grip. This was also associated with a more variable time-shift between the two forces, indicating that the precise anticipatory control when lifting an object is diminished in this grip strategy. There was a difference between hands across all grips, with the left non-dominant hand using greater grip force during the lift but not the hold phase. Further, in contrast with the right hand, the left hand did not reduce grip force during the lift or the hold phase over the ten lifts, suggesting that the non-dominant hand did not quickly learn to optimise grip force. These findings suggest that the alternate grip strategies used by patients with limited fine motor control, such as following stroke, may partly explain the disruption of force control during object manipulation.

Prehension synergies during nonvertical grasping, I: experimental observations

The mechanical complexities of rotating an object through the gravity field present a formidable challenge to the human central nervous system (CNS). The current study documents the finger force patterns selected by the CNS when performing one-, two-, and four-finger grasping while holding an object statically at various orientations with respect to vertical. Numerous mechanically "unnecessary" behaviors were observed. These included: nonzero tangential forces for horizontal handle orientations, large internal forces (i.e., those in excess of equilibrium requirements) for all orientations, and safety margins between 50 and 90%. Additionally, none of the investigated measures were constant across orientations or could be represented as a simple trigonometric function of orientation. Nonetheless, all measures varied in systematic (and sometimes symmetric) ways with orientation. The results suggest that the CNS selects force patterns that are based on mechanical principles but also that are not simply related to object orientation. This study is complemented by a second paper that provides an in-depth analysis of the mechanics of nonvertical grasping and accounts for many of the observed results with numerical optimization (see Part II - current issue). Together, the papers demonstrate that the CNS is likely to utilize optimization processes when controlling prehensile actions.

Modulation of grasping forces during object transport

Subjects held an instrumented object in a tripod grasp and moved it in the horizontal plane in various directions. The contact forces at the digits were measured and the grip force was decomposed into 2 components: a manipulating force responsible for accelerating the object and a grasping force responsible for holding the object steady. The grasping forces increased during the movement, reaching a peak near the time of peak velocity. The grasping forces also exhibited directional tuning, but this tuning was idiosyncratic for each subject. Although the overall grip forces should be modulated with acceleration, the load force did not vary during the task. Therefore the increase in the grasping force is not required to prevent slip. Rather, it is suggested that grasping force increases during translational motion to stabilize the orientation of grasped objects.

How dependent are grip force and arm actions during holding an object?

In everyday life, when manipulating objects, arm actions and precision grip force are tightly coupled by the central nervous system. To investigate the extent of this neural coupling, 11 subjects were asked to perform tasks that encourage either the coupling (Task 1) or the dissociation (Task 2 and 3) of grip force and arm actions. During Task 1, subjects held a grasping device, with an extra load suspended underneath by a string. Then, using the other hand, subjects were asked to lift or release the suspended load, while maintaining unaffected the posture of the grasping arm. During Task 2, while holding the device, subjects received similar instructions, but this time the extra load was suspended underneath the forearm. During Task 3, subjects were explicitly asked to modulate their grip force without moving the arm. In Task 1, grip force changed in parallel with, or slightly ahead of, changes in load, which is consistent with the view of a feedforward mechanism making grip force largely subordinate to ongoing arm actions. In Task 2, even though subjects had no obvious reasons to modulate their force (i.e. the load of the device was constant) they did so, with a number of features that resemble performance in Task 1. In Task 3, as expected, voluntary modulations in grip force had no effect on arm actions. It is concluded that the neural coupling between arm actions and grip force (1) can possibly lead to clumsy reactions, (2) depends on the focal action, and (3) is only unidirectional.

Counteractive relationship between the interaction torque and muscle torque at the wrist is predestined in ball-throwing

Many investigators have demonstrated that in swing motions such as ball-throwing, the motion of the proximal joint (shoulder) produced assistive interaction torque for the distal joint (elbow). In line with these studies, the shoulder and elbow motions would be expected to produce the assistive interaction torque for the wrist joint as well. However, we recently showed that the interaction torque at the wrist was always counteractive to the wrist muscle torque during ball-throwing. The purpose of this study is to clarify, by means of computer simulation, whether the counteractive relationship at the wrist during ball-throwing is caused by the neural contribution or the musculoskeletal mechanical properties of the human arm. First, we simulated the throwing motions of the normal forearm-hand model by systematically changing the proximal-to-distal delay of muscle activities and could line up two candidates for the determinant of the counteractive relationship: the rest angle (neutral angle) of the wrist and the length and mass of the hand. Second, we simulated the throwing motions of the virtual forearm-hand models, showing that only nonrealistic elongation of these two parameters produced the assistive relationship between the interaction torque and muscle torque. These results suggested that the mechanical properties of the human wrist are the main determinant of the counteractive relationship, which is advantageous for keeping the state of the wrist joint stable in multi-joint upper-limb movements and would lead to avoidance of excessive wrist extension or flexion and simplification of extrinsic finger control.

Control strategies correcting inaccurately programmed fingertip forces: model predictions derived from human behavior

When picking up a familiar object between the index finger and the thumb, the motor commands are predetermined by the CNS to correspond to the frictional demand of the finger-object contact area. If the friction is less than expected, the object will start to slip out of the hand, giving rise to unexpected sensory information. Here we study the correction strategies of the motor system in response to an unexpected frictional demand. The motor commands to the mononeuron pool are estimated by a novel technique combining behavioral recordings and neuromuscular modelling. We first propose a mathematical model incorporating muscles, hand mechanics, and the action of lifting an object. A simple control system sends motor commands to and receives sensory signals from the model. We identify three factors influencing the efficiency of the correction: the time development of the motor command, the delay between the onset of the grip and load forces (GF-LF-delay), and how fast the lift is performed. A sensitivity analysis describes how these factors affect the ability to prevent or stop slipping and suggests an efficient control strategy that prepares and corrects for an altered frictional condition. We then analyzed fingertip grip and load forces (GF and LF) and position data from 200 lifts made by five healthy subjects. The friction was occasionally reduced, forcing an increase of the GF to prevent the object being dropped. The data were then analyzed by feeding it through the inverted model. This provided an estimate of the motor commands to the motoneuron pool. As suggested by the sensitivity analysis the GF-LF-delay was indeed used by the subjects to prevent slip. In agreement with recordings from neurons in the primary motor cortex of the monkey, a sharp burst in the estimated GF motor command (NGF) efficiently arrested any slip. The estimated motor commands indicate a control system that uses a small set of corrective commands, which together with the GF-LF-delay form efficient correction strategies. The selection of a strategy depends on the amount of tactile information reporting unexpected friction and how long it takes to arrive. We believe that this technique of estimating the motor commands behind the fingertip forces during a precision grip lift can provide a powerful tool for the investigation of the central control of the motor system.

Utilization and compensation of interaction torques during ball-throwing movements

The manner in which the CNS deals with interaction torques at each joint in ball throwing was investigated by instructing subjects to throw a ball at three different speeds, using two (elbow and wrist) or three joints (shoulder, elbow, and wrist). The results indicated that the role of the muscle torque at the most proximal joint was to accelerate the most proximal joint and to produce the effect of interjoint interaction on the distal joints. In the three-joint throwing, shoulder muscle torque produced the assistive interaction torque for the elbow, which was effectively utilized to generate large elbow angular velocity when throwing fast. However, at the wrist, the muscle torque always counteracted the interaction torque. By this kinetic mechanism, the wrist angular velocity at the ball-release time was kept relatively constant irrespective of ball speed, which would lead to an accurate ball release. Thus it was concluded that humans can adjust the speed and accuracy of ball-throwing by utilizing interaction torque or compensating for it.

Sensorimotor memory for fingertip forces: evidence for a task-independent motor memory

When repetitively lifting an object with randomly varying mechanical properties, the fingertip forces reflect the previous lift. We examined the specificity of this "sensorimotor memory" by observing the effects of an isolated pinch on the subsequent lift of a known object. In this case, the pinch force was unrelated to the fingertip forces necessary to grip the object efficiently. The peak grip force used to lift the test object (4 N weight) depended on the preceding task. Compared with repetitively lifting the 4 N test object, the peak grip force was 2 N greater when a lift of the same object was preceded by a lift in which a hidden mass was attached to the object to increase the weight to 8 N. This 2 N increase in grip force also occurred when subjects lifted the 4 N test object after pinching a force transducer with a force of 8 N. Thus, similar grip forces were stored in sensorimotor memory for both tasks, and reflected subjects' use of 7.9 +/- 1.1 N to lift the 8 N object. Similar effects occurred when the preceding pinch or lift was performed with the opposite hand. The peak lift force was unaffected by the isolated pinch, suggesting that a generalized increase in fingertip and limb forces did not occur. We conclude that the sensorimotor memory is not specific for lifting an object. It is doubtful that this particular memory stores the physical properties of objects or reflects a forward internal model for predictively controlling fingertip forces.

A higher-order mechanism overrules the automatic grip-load force constraint during bimanual asymmetrical movements

The aim of the present study was to examine grip-load force regulation during unimanual and bimanual movements. Two protocols were included which manipulated the object's weight and covered distance. Results showed that grip-load ratio was adapted to the task requirements. During unimanual and bimanual symmetrical movements, an increased grip-load force ratio for long versus short amplitude movements as well as for light versus heavy weight movements was noted. These findings could be related to the observed movement speed variations associated with the tasks. During bimanual asymmetrical movements, the grip-load force ratio became comparable for both sides. When transporting different object's weights to constant distances, the grip-load force ratio of light weight movements decreased towards that of heavy weight movements. As movement speed was reduced, it indicates that grasping forces were adapted accordingly. When transporting constant object's weights to different distances, the grip-load force ratio of short amplitude movements increased towards that of long amplitude movements. Since movement speed was decreased, it suggests that a bimanual coordinative command overruled the automatic grip-load coupling. In conclusion, these data show that interlimb coupling induced a rescaling towards a common control structure, leading to similar grasping forces during bimanual movements with dissimilar actions.

Visual and tactile information about object-curvature control fingertip forces and grasp kinematics in human dexterous manipulation

Most objects that we manipulate have curved surfaces. We have analyzed how subjects during a prototypical manipulatory task use visual and tactile sensory information for adapting fingertip actions to changes in object curvature. Subjects grasped an elongated object at one end using a precision grip and lifted it while instructed to keep it level. The principal load of the grasp was tangential torque due to the location of the center of mass of the object in relation to the horizontal grip axis joining the centers of the opposing grasp surfaces. The curvature strongly influenced the grip forces required to prevent rotational slips. Likewise the curvature influenced the rotational yield of the grasp that developed under the tangential torque load due to the viscoelastic properties of the fingertip pulps. Subjects scaled the grip forces parametrically with object curvature for grasp stability. Moreover in a curvature-dependent manner, subjects twisted the grasp around the grip axis by a radial flexion of the wrist to keep the desired object orientation despite the rotational yield. To adapt these fingertip actions to object curvature, subjects could use both vision and tactile sensibility integrated with predictive control. During combined blindfolding and digital anesthesia, however, the motor output failed to predict the consequences of the prevailing curvature. Subjects used vision to identify the curvature for efficient feedforward retrieval of grip force requirements before executing the motor commands. Digital anesthesia caused little impairment of grip force control when subjects had vision available, but the adaptation of the twist became delayed. Visual cues about the form of the grasp surface obtained before contact was used to scale the grip force, whereas the scaling of the twist depended on visual cues related to object movement. Thus subjects apparently relied on different visuomotor mechanisms for adaptation of grip force and grasp kinematics. In contrast, blindfolded subjects used tactile cues about the prevailing curvature obtained after contact with the object for feedforward adaptation of both grip force and twist. We conclude that humans use both vision and tactile sensibility for feedforward parametric adaptation of grip forces and grasp kinematics to object curvature. Normal control of the twist action, however, requires digital afferent input, and different visuomotor mechanisms support the control of the grasp twist and the grip force. This differential use of vision may have a bearing to the two-stream model of human visual processing.

Impaired proactive and reactive grip force control in chronic hemiparetic patients

OBJECTIVES

The aim of the study was to test manipulative capacities of hemiparetic patients with partial recovery in a drawer task. The main objective was to assess adjustments of grip force in the face of load perturbations.

METHODS

The task was to pull and to hold the drawer manipulandum during predictable or unpredictable perturbations with short (90 ms) load pulses (factor set).

RESULTS

The following novel observations were made. (1) Load pulses elicited, at a latency of about 70 ms, a transient grip force response and a corresponding phasic EMG response. These reactive adjustments were larger during holding than during pulling (factor task). In patients, the reactive grip force adjustments and the EMG response in the grip muscles were reduced. (2) The above deficit was set-dependent. (3) With regular perturbations, grip force was scaled already before perturbation onset. This proactive adjustment was greatly reduced in the patient group. (4) Coordination between grip force and pull force before onset of the perturbation was also disturbed in the patients who generated less grip force per unit pull force than control subjects.

CONCLUSIONS

It is concluded that the patients had difficulties in adapting proactively and reactively to external load disturbances, in addition to their hand weakness.