The scaling of human grip configurations

Distinct Neural Components of Visually Guided Grasping during Planning and Execution

Selecting suitable grasps on three-dimensional objects is a challenging visuomotor computation, which involves combining information about an object (e.g., its shape, size, and mass) with information about the actor's body (e.g., the optimal grasp aperture and hand posture for comfortable manipulation). Here, we used functional magnetic resonance imaging to investigate brain networks associated with these distinct aspects during grasp planning and execution. Human participants of either sex viewed and then executed preselected grasps on L-shaped objects made of wood and/or brass. By leveraging a computational approach that accurately predicts human grasp locations, we selected grasp points that disentangled the role of multiple grasp-relevant factors, that is, grasp axis, grasp size, and object mass. Representational Similarity Analysis revealed that grasp axis was encoded along dorsal-stream regions during grasp planning. Grasp size was first encoded in ventral stream areas during grasp planning then in premotor regions during grasp execution. Object mass was encoded in ventral stream and (pre)motor regions only during grasp execution. Premotor regions further encoded visual predictions of grasp comfort, whereas the ventral stream encoded grasp comfort during execution, suggesting its involvement in haptic evaluation. These shifts in neural representations thus capture the sensorimotor transformations that allow humans to grasp objects.SIGNIFICANCE STATEMENT Grasping requires integrating object properties with constraints on hand and arm postures. Using a computational approach that accurately predicts human grasp locations by combining such constraints, we selected grasps on objects that disentangled the relative contributions of object mass, grasp size, and grasp axis during grasp planning and execution in a neuroimaging study. Our findings reveal a greater role of dorsal-stream visuomotor areas during grasp planning, and, surprisingly, increasing ventral stream engagement during execution. We propose that during planning, visuomotor representations initially encode grasp axis and size. Perceptual representations of object material properties become more relevant instead as the hand approaches the object and motor programs are refined with estimates of the grip forces required to successfully lift the object.

A Method for Measuring Contact Points in Human–Object Interaction Utilizing Infrared Cameras

This article presents a novel method for measuring contact points in human–object interaction. Research in multiple prehension-related fields, e.g., action planning, affordance, motor function, ergonomics, and robotic grasping, benefits from accurate and precise measurements of contact points between a subject’s hands and objects. During interaction, the subject’s hands occlude the contact points, which poses a major challenge for direct optical measurement methods. Our method solves the occlusion problem by exploiting thermal energy transfer from the subject’s hand to the object surface during interaction. After the interaction, we measure the heat emitted by the object surface with four high-resolution infrared cameras surrounding the object. A computer-vision algorithm detects the areas in the infrared images where the subject’s fingers have touched the object. A structured light 3D scanner produces a point cloud of the scene, which enables the localization of the object in relation to the infrared cameras. We then use the localization result to project the detected contact points from the infrared camera images to the surface of the 3D model of the object. Data collection with this method is fast, unobtrusive, contactless, markerless, and automated. The method enables accurate measurement of contact points in non-trivially complex objects. Furthermore, the method is extendable to measuring surface contact areas, or patches, instead of contact points. In this article, we present the method and sample grasp measurement results with publicly available objects.

Impairment and Compensation in Dexterous Upper-Limb Function After Stroke. From the Direct Consequences of Pyramidal Tract Lesions to Behavioral Involvement of Both Upper-Limbs in Daily Activities

Impairments in dexterous upper limb function are a significant cause of disability following stroke. While the physiological basis of movement deficits consequent to a lesion in the pyramidal tract is well demonstrated, specific mechanisms contributing to optimal recovery are less apparent. Various upper limb interventions (motor learning methods, neurostimulation techniques, robotics, virtual reality, and serious games) are associated with improvements in motor performance, but many patients continue to experience significant limitations with object handling in everyday activities. Exactly how we go about consolidating adaptive motor behaviors through the rehabilitation process thus remains a considerable challenge. An important part of this problem is the ability to successfully distinguish the extent to which a given gesture is determined by the neuromotor impairment and that which is determined by a compensatory mechanism. This question is particularly complicated in tasks involving manual dexterity where prehensile movements are contingent upon the task (individual digit movement, grasping, and manipulation…) and its objective (placing, two step actions…), as well as personal factors (motivation, acquired skills, and life habits…) and contextual cues related to the environment (presence of tools or assistive devices…). Presently, there remains a lack of integrative studies which differentiate processes related to structural changes associated with the neurological lesion and those related to behavioral change in response to situational constraints. In this text, we shall question the link between impairments, motor strategies and individual performance in object handling tasks. This scoping review will be based on clinical studies, and discussed in relation to more general findings about hand and upper limb function (manipulation of objects, tool use in daily life activity). We shall discuss how further quantitative studies on human manipulation in ecological contexts may provide greater insight into compensatory motor behavior in patients with a neurological impairment of dexterous upper-limb function.

Transfer and generalization of learned manipulation between unimanual and bimanual tasks

Successful object manipulation, such as preventing object roll, relies on the modulation of forces and centers of pressure (point of application of digits on each grasp surface) prior to lift onset to generate a compensatory torque. Whether or not generalization of learned manipulation can occur after adding or removing effectors is not known. We examined this by recruiting participants to perform lifts in unimanual and bimanual grasps and analyzed results before and after transfer. Our results show partial generalization of learned manipulation occurred when switching from a (1) unimanual to bimanual grasp regardless of object center of mass, and (2) bimanual to unimanual grasp when the center of mass was on the thumb side. Partial generalization was driven by the modulation of effectors' center of pressure, in the appropriate direction but of insufficient magnitude, while load forces did not contribute to torque generation after transfer. In addition, we show that the combination of effector forces and centers of pressure in the generation of compensatory torque differ between unimanual and bimanual grasping. These findings highlight that (1) high-level representations of learned manipulation enable only partial learning transfer when adding or removing effectors, and (2) such partial generalization is mainly driven by modulation of effectors' center of pressure.

Humans Can Visually Judge Grasp Quality and Refine Their Judgments Through Visual and Haptic Feedback

How humans visually select where to grasp objects is determined by the physical object properties (e.g., size, shape, weight), the degrees of freedom of the arm and hand, as well as the task to be performed. We recently demonstrated that human grasps are near-optimal with respect to a weighted combination of different cost functions that make grasps uncomfortable, unstable, or impossible, e.g., due to unnatural grasp apertures or large torques. Here, we ask whether humans can consciously access these rules. We test if humans can explicitly judge grasp quality derived from rules regarding grasp size, orientation, torque, and visibility. More specifically, we test if grasp quality can be inferred (i) by using visual cues and motor imagery alone, (ii) from watching grasps executed by others, and (iii) through performing grasps, i.e., receiving visual, proprioceptive and haptic feedback. Stimuli were novel objects made of 10 cubes of brass and wood (side length 2.5 cm) in various configurations. On each object, one near-optimal and one sub-optimal grasp were selected based on one cost function (e.g., torque), while the other constraints (grasp size, orientation, and visibility) were kept approximately constant or counterbalanced. Participants were visually cued to the location of the selected grasps on each object and verbally reported which of the two grasps was best. Across three experiments, participants were required to either (i) passively view the static objects and imagine executing the two competing grasps, (ii) passively view videos of other participants grasping the objects, or (iii) actively grasp the objects themselves. Our results show that, for a majority of tested objects, participants could already judge grasp optimality from simply viewing the objects and imagining to grasp them, but were significantly better in the video and grasping session. These findings suggest that humans can determine grasp quality even without performing the grasp-perhaps through motor imagery-and can further refine their understanding of how to correctly grasp an object through sensorimotor feedback but also by passively viewing others grasp objects.

Effect of Number of Digits on Human Precision Manipulation Workspaces

Precision manipulation, or moving small objects held in the fingertips, is likely the most heavily utilized class of dexterous within-hand manipulation and adds greatly to the capabilities of the human hand. This article focuses on studying the effects of varying the number of digits used on the resulting manipulation abilities, in terms of translational workspaces and rotational ranges, by manipulating two circular objects, 50 mm and 80 mm in diameter. In general, as the number of digits in contact with the object increases, the results show a significant reduction in precision manipulation workspace range for four of the six translation and rotation directions and no significant change in the other two, suggesting that for these particular metrics, more fingers result in a reduction in performance. Furthermore, while two digits results in the largest workspaces for five of the six translation and rotation axes, the lack of ability to control rotation in the distal-proximal direction suggests that three digits may be more desirable for overall precision manipulation dexterity.

Collective Variables and Task Constraints in Movement Coordination, Control and Skill

In this paper we review studies that have identified collective variables (order parameters) in movement coordination, control and skill with emphasis on whole-body multiple joint degree of freedom (DF) tasks. Collective variables of a dynamical system have been proposed formally and informally from a diverse set of perceptual-motor tasks, from which we emphasize: bimanual coordination, locomotion (pedalo, walking, running, bicycle riding), roller ball task, static (quiet standing) and dynamic (moving on a ski-simulator) balance, grasping, and juggling. Several types of candidate collective variables have been identified, including: relative phase, frequency ratio, number of hands active in grasping, synchrony, learning rate and relative timing. There is a strong influence of the task goal in determining the collective variable that can be body or environment relative. The emergence of the task relevant collective variable is typically in the early stage of skill learning where subjects through practice adapt movement organization to realize a never previously produced movement coordination pattern. Throughout, the paper elaborates on open theoretical, experimental and analysis issues for collective variables in the context of task constraints and Bernstein's (1967) view of skill acquisition as learning to master redundant DF.

Predicting precision grip grasp locations on three-dimensional objects

We rarely experience difficulty picking up objects, yet of all potential contact points on the surface, only a small proportion yield effective grasps. Here, we present extensive behavioral data alongside a normative model that correctly predicts human precision grasping of unfamiliar 3D objects. We tracked participants' forefinger and thumb as they picked up objects of 10 wood and brass cubes configured to tease apart effects of shape, weight, orientation, and mass distribution. Grasps were highly systematic and consistent across repetitions and participants. We employed these data to construct a model which combines five cost functions related to force closure, torque, natural grasp axis, grasp aperture, and visibility. Even without free parameters, the model predicts individual grasps almost as well as different individuals predict one another's, but fitting weights reveals the relative importance of the different constraints. The model also accurately predicts human grasps on novel 3D-printed objects with more naturalistic geometries and is robust to perturbations in its key parameters. Together, the findings provide a unified account of how we successfully grasp objects of different 3D shape, orientation, mass, and mass distribution.

Normalization of aberrant pretherapeutic dynamic functional connectivity of extrastriate visual system in patients who underwent thalamotomy with stereotactic radiosurgery for essential tremor: a resting-state functional MRI study

OBJECTIVE

The tremor circuitry has commonly been hypothesized to be driven by one or multiple pacemakers within the cerebello-thalamo-cortical pathway, including the cerebellum, contralateral motor thalamus, and primary motor cortex. However, previous studies, using multiple methodologies, have advocated that tremor could be influenced by changes within the right extrastriate cortex, at both the structural and functional level. The purpose of this work was to evaluate the role of the extrastriate cortex in tremor generation and further arrest after left unilateral stereotactic radiosurgery thalamotomy (SRS-T).

METHODS

The authors considered 12 healthy controls (HCs, group 1); 15 patients with essential tremor (ET, right-sided, drug-resistant; group 2) before left unilateral SRS-T; and the same 15 patients (group 3) 1 year after the intervention, to account for delayed effects. Blood oxygenation level-dependent functional MRI during resting state was used to characterize the dynamic interactions of the right extrastriate cortex, comparing HC subjects against patients with ET before and 1 year after SRS-T. In particular, the authors applied coactivation pattern analysis to extract recurring whole-brain spatial patterns of brain activity over time.

RESULTS

The authors found 3 different sets of coactivating regions within the right extrastriate cortex in HCs and patients with pretherapeutic ET, reminiscent of the "cerebello-visuo-motor," "thalamo-visuo-motor" (including the targeted thalamus), and "basal ganglia and extrastriate" networks. The occurrence of the first pattern was decreased in pretherapeutic ET compared to HCs, whereas the other two patterns showed increased occurrences. This suggests a misbalance between the more prominent cerebellar circuitry and the thalamo-visuo-motor and basal ganglia networks. Multiple regression analysis showed that pretherapeutic standard tremor scores negatively correlated with the increased occurrence of the thalamo-visuo-motor network, suggesting a compensatory pathophysiological trait. Clinical improvement after SRS-T was related to changes in occurrences of the basal ganglia and extrastriate cortex circuitry, which returned to HC values after the intervention, suggesting that the dynamics of the extrastriate cortex had a role in tremor generation and further arrest after the intervention.

CONCLUSIONS

The data in this study point to a broader implication of the visual system in tremor generation, and not only through visual feedback, given its connections to the dorsal visual stream pathway and the cerebello-thalamo-cortical circuitry, with which its dynamic balance seems to be a crucial feature for reduced tremor. Furthermore, SRS-T seems to bring abnormal pretherapeutic connectivity of the extrastriate cortex to levels comparable to those of HC subjects.

Change in effectivity yields recalibration of affordance geometry to preserve functional dynamics

Mon-Williams and Bingham (Exp Brain Res 211(1):145-160, 2011) developed a geometrical affordance model for reaches-to-grasp, and identified a constant scaling relationship, P, between safety margins (SM) and available apertures (SM) that are determined by the sizes of the objects and the individual hands. Bingham et al. (J Exp Psychol Hum Percept Perform 40(4):1542-1550, 2014) extended the model by introducing a dynamical component that scales the geometrical relationship to the stability of the reaching-to-grasp. The goal of the current study was to explore whether and how quickly change in the relevant effectivity (functionally determined hand size = maximum grip) would affect the geometrical and dynamical scaling relationships. The maximum grip of large-handed males was progressively restricted. Participants responded to this restriction by using progressively smaller safety margins, but progressively larger P (= SM/AA) values that preserved an invariant dynamical scaling relationship. The recalibration was relatively fast, occurring over five trials or less, presumably a number required to detect the variability or stability of performance. The results supported the affordance model for reaches-to-grasp in which the invariance is determined by the dynamical component, because it serves the goal of not colliding with the object before successful grasping can be achieved. The findings were also consistent with those of Snapp-Childs and Bingham (Exp Brain Res 198(4):527-533, 2009) who found changes in age-specific geometric scaling for stepping affordances as a function of changes in effectivities over the life span where those changes preserved a dynamic scaling constant similar to that in the current study.

Object Visibility, Not Energy Expenditure, Accounts For Spatial Biases in Human Grasp Selection

Humans exhibit spatial biases when grasping objects. These biases may be due to actors attempting to shorten their reaching movements and therefore minimize energy expenditures. An alternative explanation could be that they arise from actors attempting to minimize the portion of a grasped object occluded from view by the hand. We reanalyze data from a recent study, in which a key condition decouples these two competing hypotheses. The analysis reveals that object visibility, not energy expenditure, most likely accounts for spatial biases observed in human grasping.

Embodied Precision: Intranasal Oxytocin Modulates Multisensory Integration

Multisensory integration processes are fundamental to our sense of self as embodied beings. Bodily illusions, such as the rubber hand illusion (RHI) and the size-weight illusion (SWI), allow us to investigate how the brain resolves conflicting multisensory evidence during perceptual inference in relation to different facets of body representation. In the RHI, synchronous tactile stimulation of a participant's hidden hand and a visible rubber hand creates illusory body ownership; in the SWI, the perceived size of the body can modulate the estimated weight of external objects. According to Bayesian models, such illusions arise as an attempt to explain the causes of multisensory perception and may reflect the attenuation of somatosensory precision, which is required to resolve perceptual hypotheses about conflicting multisensory input. Recent hypotheses propose that the precision of sensorimotor representations is determined by modulators of synaptic gain, like dopamine, acetylcholine, and oxytocin. However, these neuromodulatory hypotheses have not been tested in the context of embodied multisensory integration. The present, double-blind, placebo-controlled, crossover study ( n = 41 healthy volunteers) aimed to investigate the effect of intranasal oxytocin (IN-OT) on multisensory integration processes, tested by means of the RHI and the SWI. Results showed that IN-OT enhanced the subjective feeling of ownership in the RHI, only when synchronous tactile stimulation was involved. Furthermore, IN-OT increased an embodied version of the SWI (quantified as estimation error during a weight estimation task). These findings suggest that oxytocin might modulate processes of visuotactile multisensory integration by increasing the precision of top-down signals against bottom-up sensory input.

Functional classification of grasp strategies used by hemiplegic patients

This study aimed to identify and qualify grasp-types used by patients with stroke and determine the clinical parameters that could explain the use of each grasp. Thirty-eight patients with chronic stroke-related hemiparesis and a range of motor and functional capacities (17 females and 21 males, aged 25–78), and 10 healthy subjects were included. Four objects were used (tissue packet, teaspoon, bottle and tennis ball). Participants were instructed to “grasp the object as if you are going to use it”. Three trials were video-recorded for each object. A total of 456 grasps were analysed and rated using a custom-designed Functional Grasp Scale. Eight grasp-types were identified from the analysis: healthy subjects used Multi-pulpar, Pluri-digital, Lateral-pinch and Palmar grasps (Standard Grasps). Patients used the same grasps with in addition Digito-palmar, Raking, Ulnar and Interdigital grasps (Alternative Grasps). Only patients with a moderate or relatively good functional ability used Standard grasps. The correlation and regression analyses showed this was conditioned by sufficient finger and elbow extensor strength (Pluri-digital grasp); thumb extensor and wrist flexor strength (Lateral pinch) or in forearm supinator strength (Palmar grasp). By contrast, the patients who had severe impairment used Alternative grasps that did not involve the thumb. These strategies likely compensate specific impairments. Regression and correlation analyses suggested that weakness had a greater influence over grasp strategy than spasticity. This would imply that treatment should focus on improving hand strength and control although reducing spasticity may be useful in some cases.

Affordance Boundaries Are Defined by Dynamic Capabilities of Parkour Athletes in Dropping from Various Heights

Available behaviors are determined by the fit between features of the individual and reciprocal features of the environment. Beyond some critical boundary certain behaviors become impossible causing sudden transitions from one movement pattern to another. Parkour athletes have developed multiple movement patterns to deal with their momentum during landing. We were interested in whether drop distance would cause a sudden transition between a two-footed (precision) landing and a load-distributing roll and whether the transition height could be predicted by dynamic and geometric characteristics of individual subjects. Kinematics and ground reaction forces were measured as Parkour athletes stepped off a box from heights that were incrementally increased or decreased from 0.6 to 2.3 m. Individuals were more likely to roll from higher drops; those with greater body mass and less explosive leg power, were more likely to transition to a roll landing at a lower height. At some height a two-footed landing is no longer feasible but for some athletes this height was well within the maximum drop height used in this study. During low drops the primary task constraint of managing momentum could be achieved with either a precision landing or a roll. This meant that participants were free to select their preferred landing strategy, which was only partially influenced by the physical demands of the task. However, athletes with greater leg power appeared capable of managing impulse absorption through a leg mediated strategy up to a greater drop height.

CUSUM analysis of learning curves for the head-mounted microscope in phonomicrosurgery

OBJECTIVES/HYPOTHESIS

To observe the learning curve of the head-mounted microscope in a phonomicrosurgery simulator using cumulative summation (CUSUM) analysis, which incorporates a magnetic phonomicrosurgery instrument tracking system (MPTS).

STUDY DESIGN

Retrospective case series.

METHODS

Eight subjects (6 medical students and 2 surgeons inexperienced in phonomicrosurgery) operated on phonomicrosurgical simulation cutting tasks while using the head-mounted microscope for 400 minutes total. Two 20-minute sessions occurred each day for 10 total days, with operation quality (Qs ) and completion time (T) being recorded after each session. Cumulative summation analysis of Qs and T was performed by using subjects' performance data from trials completed using a traditional standing microscope as success criteria.

RESULTS

The motion parameters from the head-mounted microscope were significantly better than the standing microscope (P < 0.01), but T was longer than that from the standing microscope (P < 0.01). No subject successfully adapted to the head-mounted microscope, as assessed by CUSUM analysis.

CONCLUSION

Cumulative summation analysis can objectively monitor the learning process associated with a phonomicrosurgical simulator system, ultimately providing a tool to assess learning status. Also, motion parameters determined by our MPTS showed that, although the head-mounted microscope provides better motion control, worse Qs and longer T resulted. This decrease in Qs is likely a result of the relatively unstable visual environment that it provides. Overall, the inexperienced surgeons participating in this study failed to adapt to the head-mounted microscope in our simulated phonomicrosurgery environment.

LEVEL OF EVIDENCE

4 Laryngoscope, 126:2295-2300, 2016.

Body-scaled perception is subjected to adaptation when repetitively judging opportunities for grasping

Experimental evidence is given that the perceptual system adapts to repetitive task execution in a perceptual two-choice judgment task. Participants were tested with respect to their perception of opportunities for plank grasping. Participants had to report whether planks were perceived as objects being graspable with either one hand or two hands. When the plank size was gradually increased and subsequently decreased, transitions from one hand judgments to two hands judgments and vice versa were observed. Analysis of the transition scores revealed that the perceptual judgments were body-scaled, as it is known in the literature. However, judgments were also found to be context dependent. Judgment transition scores were affected in a systematic way by the kind of and the number of previously made judgments. The latter quantitative impact was observed in three related experiments and suggests that perceptual judgments about opportunities for action adapt to task repetition. Overall, the experimental findings are consistent with the predictions of a dynamical systems model, which assumes that perceptual judgments are emergent properties of a self-organizing process that involves inhibitory top-down feedback.

Human precision manipulation workspace: Effects of object size and number of fingers used

Precision manipulation, or moving small objects in the fingertips, is important for daily tasks such as writing and key insertion, as well as medically relevant tasks such as scalpel cuts and surgical teleoperation. While fingertip force coordination has been studied in some detail, few previous works have experimentally studied the kinematics of human precision manipulation with real objects. The present work focuses on studying the effects of varying object size and the number of fingers used on the resulting manipulation workspace, or range of motions that the object can be moved through. To study object size effects, seven bar-shaped objects ranging from 20 to 80 mm length were tested; after scaling object length to the equivalent for a 17.5 cm hand, the peak volume was obtained for 48-59 mm object length range (23% above average), and the minimum volume was obtained for the smallest 17-27 mm range (72% of average). 50 mm and 80 mm circular objects were used to study the effect of using different numbers of fingers; the five-finger manipulation volume dropped to less than half the two-finger volume (p<;0.001). We anticipate these results will be useful in designing devices such as hand held tools, as well as in designing protocols for effectively testing and rehabilitating hand function. Finally, the results can provide a benchmark for the manipulation capability of prosthetic hands.

Rotational ranges of human precision manipulation when grasping objects with two to five digits

The ability to move and manipulate objects within the hand is important for the overall performance of the human hand. Such movements are key for many tasks, including writing, using precision tools, turning knobs, and operating various haptic interfaces. In this work we analyze the ability of 17 unimpaired subjects to rotate objects 50 and 80 mm in diameter using 2 to 5 digits, while maintaining the initial finger-object contact locations. Subjects were asked to rotate the object with a particular number of fingers around one of three orthogonal hand axes for 30 seconds and explore their rotational range. The average rotational range achieved over all conditions was 47 degrees, with the largest rotation of 82 degrees for the 3 digit case around a distal-proximal axis. The rotations around the palmar-dorsal and the ulnar-radial axes showed similar trends, where the smaller object resulted in 1.3 and 1.2 times larger rotation workspaces than the larger object (p <; 0.001), respectively. The rotation around the distal-proximal axis has a different trend, where the difference in rotation amplitude between different number of finger conditions is over 50% (p <; 0.003), but the difference in object size conditions is only 10%. The results highlight that the orientation of the rotation axis has significant influence on the rotation capabilities of the human hand. In designing handheld tools and haptic devices one should carefully consider around which axes a rotation is required.

A study of phonomicrosurgical arm support postures using a magnetic motion tracking system

OBJECTIVES/HYPOTHESIS

To study the different arm support postures used in phonomicrosurgery by using a magnetic-based phonomicrosurgery instrument tracking system (MPTS). Through quantitative motion parameter data collected from four arm support postures (elbow support [ES], forearm support [FS], forearm and hand support, and no support), phonomicrosurgical operation postures were analyzed and compared.

STUDY DESIGN

Prospective cohort study.

METHODS

Seven subjects operated on phonomicrosurgical simulation cutting tasks with four arm support postures while being monitored by MPTS. The motion parameters, including operation time, path length, depth perception, and motion smoothness were analyzed. The subjects' cutting quality was also calculated.

RESULTS

With the FS, the nondominant hand showed improved S, better D, and shorter P (P < 0.05). Better motion control in the dominant hand resulted from ES posture (P < 0.05). Better operation quality was associated with increased motion control in the nondominant hand.

CONCLUSIONS

Forearm support resulted in higher steadiness and shorter surgical path in the nondominant hand. In the dominant hand, ES resulted in increased steadiness, shorter surgical path, and better D. The effect of both gravity and wrist dexterity on movement control should be considered when selecting proper arm supports.

LEVEL OF EVIDENCE

4.

Analysis of human grasping behavior: object characteristics and grasp type

This paper is the first of a two-part series analyzing human grasping behavior during a wide range of unstructured tasks. The results help clarify overall characteristics of human hand to inform many domains, such as the design of robotic manipulators, targeting rehabilitation toward important hand functionality, and designing haptic devices for use by the hand. It investigates the properties of objects grasped by two housekeepers and two machinists during the course of almost 10,000 grasp instances and correlates the grasp types used to the properties of the object. We establish an object classification that assigns each object properties from a set of seven classes, including mass, shape and size of the grasp location, grasped dimension, rigidity, and roundness. The results showed that 55 percent of grasped objects had at least one dimension larger than 15 cm, suggesting that more than half of objects cannot physically be grasped using their largest axis. Ninety-two percent of objects had a mass of 500 g or less, implying that a high payload capacity may be unnecessary to accomplish a large subset of human grasping behavior. In terms of grasps, 96 percent of grasp locations were 7 cm or less in width, which can help to define requirements for hand rehabilitation and defines a reasonable grasp aperture size for a robotic hand. Subjects grasped the smallest overall major dimension of the object in 94 percent of the instances. This suggests that grasping the smallest axis of an object could be a reliable default behavior to implement in grasp planners.

Grasp: combined contribution of object properties and task constraints on hand and finger posture

We compared the effect of different object properties on human upper-limb posture during reach-to-grasp tasks. A combination of extrinsic (object position), intrinsic (object type) and contextual object properties (grasp type) was investigated. Three-dimensional reach posture was measured by the hand position and orientation relative to the object at the time of stable object contact (with the digits). Similarly, the grasp posture was quantified by the angular digit configuration at the time of stationary object contact. We found that hand position and hand orientation were not only dependent on object position, as previously hypothesized, but also on object type and grasp type. Similarly, angular digit configuration was also dependent on extrinsic and contextual properties, and not only on object type (the intrinsic property). Principal component analysis revealed that two principal components (PCs) explained >79 % of the variation in the reach posture, whereas four PCs explained >76 % of the variation of the grasp posture. Again, PCs represented combinations of the input variables, i.e., there was no clear separation between the extrinsic variable acting specifically on the reach component, and the intrinsic variable on the grasp component. Contrary to the Dual Visuomotor Channel theory, these results suggest that extrinsic, intrinsic and contextual object variables do not act separately and exclusively on the neural control of the reach component or on that of the grasp component, but interact on both.

Negative hysteresis in the behavioral dynamics of the affordance "graspable"

One commonly perceives whether a visible object will afford grasping with one hand or with both hands. In experiments in which differently sized objects of a fixed type are presented, the transition from using one of these manual modes to the other depends on the ratio of object size to hand span and on the presentation sequence, with size increasing versus decreasing. Conventional positive hysteresis (i.e., a larger transition ratio for the increasing sequence) can be accommodated by the order parameter dynamics that typify self-organizing systems (Lopresti-Goodman, Turvey, and Frank, Attention, Perception, & Psychophysics 73:1948-1965, 2011). Here we identified and addressed conditions of unconventional negative hysteresis (i.e., a larger transition ratio for the decreasing sequence). They suggest a second control parameter in the self-organization of affordance perception, one that is seemingly regulated by inhibitory dynamics occurring in the agent-task-environment system. Our experimental results and modeling extend the investigation of affordance perception within dynamical systems theory.

Contact points during multidigit grasping of geometric objects

We investigated the choice of contact points during multidigit grasping of different objects. In Experiment 1, cylinders were grasped and lifted. Participants were either instructed as to the number of fingers they should use, ranging from a two-finger grasp to a five-finger grasp, or could grasp with their preferred number of fingers. We found a strong relationship between the position of the fingertips on the object and the number of fingers used. In general, variability in the choice of contact points was low within- as well as between participants. The virtual finger, defined as the geometric mean position of fingers opposing the thumb, was in almost perfect opposition to the thumb, suggesting the formation of a functional unit using all contributing fingers in the grasp. In Experiment 2, four more complex shapes (rectangle, hexagon, pentagon, curved object) were grasped. Although we found some moderate between-participant variability in the choice of contact points, the within-participant variability was again remarkably low. In both experiments, participants showed a strong preference to use four or five fingers during grasping when left with free choice. Taken together, our findings suggest a preplanning of the grasping movement and that grasping results from a coordinated interplay between the fingers contributing to the grasp that cannot be understood as independent digit movements.

Grip-dependent cortico-spinal excitability during grasping imagination and execution

Studies converge in indicating a substantial similarity of the rules and mechanisms underlying execution, observation and imagery of actions, along with a large overlapping of their neural substrates. Recent transcranial magnetic stimulation (TMS) studies have demonstrated a muscle-specific facilitation of the observer's motor system for force requirement and type of grip during grasping observation. However, whether similar fine-tuned muscle-specificity occurs even during imagination, when subjects are free to select the most convenient grip configuration, is still unknown. Here we applied TMS over the primary motor cortex and measured the corticospinal excitability (MEP) in three muscles (FDI, ADM and FDS) while subjects imagined grasping spheres of different dimensions and materials. This range of object weights and sizes (diameters) allowed subjects to freely imagine the most suitable grip configuration among several possibilities. Activation measured during grasping imagination has been also compared to that obtained during real execution (EMG recorded from the same muscles). We found that during imagination of grasping small objects, the FDI muscle was more active than the ADM and the FDS, whereas the opposite pattern was found for big objects. Imagination of medium size objects, instead, required an equal involvement of the three muscles. The same pattern was observed when subjects were asked to perform the action. This suggests that during imagination, the cortico-spinal system is modulated in a muscle-specific/grip-specific way, as if the action would be really performed. However, when force was required (i.e., for the aluminum objects), the motor activation obtained during action execution was more fine-tuned to object dimensions than the facilitation recorded during imagination, suggesting a separate control of force production.

Rubber hand illusions and size-weight illusions: self-representation modulates representation of external objects

Bodily illusions offer an experimental method to investigate the origins and functional role of the sense of one's own body. Using the rubber hand illusion (RHI) we show that a representation of one's own body is implicitly used to calibrate perception of external objects. Twelve participants experienced the RHI while watching stimulation of a large or small glove simultaneously with stimulation of their own hand. They then grasped cylinders of identical size but varying weight. RHI with the large glove caused the cylinders to feel heavier. We suggest that an illusory increase in hand size made the subsequently grasped cylinder feel correspondingly small, evoking a size-weight illusion. Self-representation thus influenced exteroception. The sense of one's own body provides a fundamental reference for perception in general.

Order parameter dynamics of body-scaled hysteresis and mode transitions in grasping behavior

Several experimental studies have shown that human grasping behavior exhibits a transition from one-handed to two-handed grasping when to-be-grasped objects become larger and larger. The transition point depends on the relative size of objects measured in terms of human body-scales. Most strikingly, the transitions between the two different behavioral 'modes' of grasping exhibit hysteresis. That is, one-to-two hand transitions and two-to-one hand transitions occur at different relative object sizes when objects are scaled up or down in size. In our study we approach body-scaled hysteresis and mode transitions in grasping by exploiting the notion that human behavior in general results from self-organization and satisfies appropriately-defined order parameter equations. To this end, grasping transitions and grasping hysteresis are discussed from a theoretical perspective in analogy to cognitive processes defined by Haken's neural network model for pattern recognition. In doing so, issues such as the exclusivity of grasping modes, biomechanical constraints, mode-mode interactions, single subject behavior and population behavior are explored.

The role of posture, magnification, and grip force on microscopic accuracy

While tremor has been studied extensively, the investigations thus far do not give detailed information on how the accuracy necessary for micromanipulations is affected while performing tasks in microsurgery and the life sciences. This paper systematically studies the effects of visual feedback, posture and grip force on the trial error and tremor intensity of subjects holding a forceps-like object to perform a pointing task. Results indicate that: (i) Arm support improves accuracy in tasks requiring fine manipulation and reduces tremor intensity in the 2-8 Hz region, but hand support does not provide the same effect; hence freedom of wrist movement can be retained without a significant increase in trial error. (ii) Magnification of up to x10 is critical to carry out accurate micromanipulations, but beyond that level, magnification is not the most important factor. (iii) While an appropriate grip force must be learned in order to grasp micro-objects, such as a needle, without damaging them, the level of grip force applied does not affect the endpoint accuracy.

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.

Hierarchical control of static prehension: I. Biomechanics

We explored the action of digits during static prehension tasks involving one hand or two hands of one or two persons. Three hypotheses were tested: to prevent slippage of the object, grip force and safety margin (SM) would be largest in bimanual conditions, particularly involving two persons; the distribution of tangential forces would not differ among tested conditions, thus preserving the vertical orientation of the object in a stereotypical way; and the mechanical advantage of fingers would be used to maintain rotational equilibrium. The multi-digit synergies are discussed in the companion paper (Gorniak et al. 2009, in review). The subjects held vertical one of the two handles, a narrow one and a wide one. They used the four fingers of the right hand opposed by either the right hand thumb, the left hand thumb, the left hand index finger, the thumb of an experimenter, the index finger of an experimenter, or an inanimate object. Forces and moments of force produced by each digit were recorded. The first two hypotheses were falsified. Both grip force and SM were the largest in the one-hand task, and they were the lowest for the tasks involving two persons. The distribution of tangential forces among fingers was significantly different in the one-hand task. The mechanical advantage hypothesis was supported across all the tested conditions. The results suggest that the neural controller uses a different strategy in the one-hand task as compared to other tasks, while bimanual prehension involving two persons differs from one-person two-hand tasks. The findings do not support a hypothesis that normal (grip) forces are adjusted to ensure a particular value of the SM. Maintaining rotational equilibrium was achieved differently in different tasks. In particular, the one-hand task was characterized by large intercompensated adjustments in different contributors to the total moment of force, which could be described as chain effects; such adjustments were all but absent in the other conditions. The findings may be interpreted within the framework of the reference configuration hypothesis, in which digit forces emerge due to the discrepancies between the actual and the centrally defined (reference) hand aperture.

Hierarchical control of static prehension: II. Multi-digit synergies

The purpose of this study was to explore the ability of the central nervous system (CNS) to organize synergies at two levels of a hypothetical control hierarchy involved in two-hand multi-finger prehension tasks with one or more persons participating in the task together. At the higher level of the hierarchy, the total force and moment of force produced on an object are distributed between the thumb and the virtual finger (an imagined finger with mechanical output equal to the involved fingers of the hand), while at the lower level the virtual finger action is distributed among the four fingers. We tested a hypothesis that the CNS is able to organize synergies at only one level of the hierarchy. The subjects held vertically one of the two handles, a narrow one and a wide one. They used the four fingers of the right hand opposed by the right hand thumb, the left hand thumb, the left hand index finger, the thumb of an experimenter, the index finger of an experimenter, or an inanimate object. Forces and moments of force produced by each digit were recorded. Indices of synergies stabilizing the mechanical output variables at each of the two levels were computed. Contrary to the expectations, force and moment of force stabilizing synergies were found at one or both levels of the hierarchy across all tasks. Unimanual tasks exhibited higher synergy indices compared to all tasks, while intrapersonal synergy indices were higher than those of interpersonal synergies. The results suggest that both feed-forward and feedback mechanisms may be used to create force and moment of force stabilizing synergies. We invoke the notion of chain effects and generalize it for relations among variance components related to stabilization of different mechanical variables. The reference configuration hypothesis offers a fruitful framework for analysis of prehension synergies.

Effect of object width on precision grip force and finger posture

This study aimed to define the effect of object width on spontaneous grasp. Participants held objects of various masses (0.75 to 2.25 kg) and widths (3.5 to 9.5 cm) between thumb and index finger. Grip force, maximal grip force and corresponding finger postures were recorded using an embedded force sensor and an optoelectronic system, respectively. Results showed that index finger joints varied to accommodate the object width, whereas thumb posture remained constant across conditions. For a given object mass, grip force increased as a function of object width, although this result is not dictated by the laws of mechanics. Because maximal grip force also increased with object width, we hypothesise that participants maintain a constant ratio between grip force and their maximal grip force at each given width. Altogether we conclude that when the task consists in manipulating objects/tools, the optimal width is different than when maximal force exertions are required.

Handle size as a task constraint in spoon-use movement in patients with Parkinson's disease

Objective: To examine the effect of spoon-handle size on kinematic performance in people with Parkinson's disease.

Design: A counterbalanced repeated-measures design.

Setting: A motor control laboratory in a university setting.

Subjects: Eighteen individuals with Parkinson's disease and 18 age-matched controls.

Experimental conditions: Each participant was instructed to scoop water (simulated soup) using spoons with three different-sized handles.

Main measures: Kinematic variables (movement time, peak velocity and number of movement units) of arm movement, size of hand aperture and number of fingers to grasp the spoon.

Results: The movement of the participants with Parkinson's disease was faster (shorter movement time) and smoother (fewer movement units) when they used spoons with a small- or medium-sized handle than when using a spoon with a large-sized handle. In contrast, the healthy controls showed no significant differences in movement kinematics between handle sizes. Moreover, the participants with Parkinson's disease had a significantly smaller hand aperture and used more fingers to hold the spoons than the controls did.

Conclusions: These results suggest that, for people with Parkinson's disease, a small-to-medium-sized handle is more suitable than a large-sized built-up handle.

Prehension is really reaching and grasping

Prehension has traditionally been seen as the act of coordinated reaching and grasping. However, recently, Smeets and Brenner (in Motor Control 3:237-271, 1999) proposed that we might just as well look at prehension as the combination of two independently moving digits. The hand aperture that has featured prominently in many studies on prehension, according to Smeets and Brenner's "double-pointing hypothesis", is really an emergent property related to the time course of the positions of the two digits moving to their respective end points. We tested this double-pointing hypothesis by perturbing the end position of one of the digits while leaving the end position of the opposing digit unchanged. To this end, we had participants reach for and grasp a metallic object of which the side surfaces could be made to slide in and out. We administered the perturbation right after movement initiation. On several occasions, after perturbing the end position of one digit, we found effects also on the kinematics of the opposing digit. These findings are in conflict with Smeets and Brenner's double-pointing hypothesis.

Augmented visual feedback increases finger tremor during postural pointing

Physiological tremor in the upper limb of eight adults was examined during the performance of a unilateral pointing task under conditions where the visual feedback, limb used and target size were altered. All subjects were required to aim a hand-held laser pointer at a circular target 5.5 m away with the goal of keeping the laser emission within the centre of the target. Visual feedback was defined as either normal vision (NV) of their limb tremor, where the laser was switched off, or augmented vision (AV) where the laser was switched on. Postural tremor from the segments of the upper limb, forearm muscle EMG activity, and target accuracy measures were recorded and analysed in the time and frequency domains. Accuracy-tremor relations were assessed using cross correlation and linear regression. Results revealed a high degree of similarity in the general pattern of the tremor output seen for each limb segment across conditions with only scalar (amplitude) changes being seen as a function of the different constraints imposed. For any single condition the tremor amplitude increased from proximal to distal segments. The frequency profile for the tremor in any segment displayed two prominent frequency peaks (at 2-4 Hz and 8-12 Hz). A third, higher frequency peak (18-22 Hz) was observed in the index fingers only. Across all conditions significant coupling relations were observed only between the hand-finger and forearm-upper arm segment pairs. Altering the visual feedback was shown to have the greatest effect on limb tremor with increased tremor and EMG activity and decreased coupling being seen under AV conditions. In trying to reduce tremor output when the augmented feedback was provided novice subjects instead increased muscle activity which resulted in increased tremor. Overall these results indicate that the physiological tremor output observed in neurologically normal subjects is not simply the product of intrinsic oscillations but is influenced by the nature of the task being performed.

A common perceptual parameter for stair climbing for children, young and old adults

In this paper we examine whether a common perceptual parameter is available for guiding old adults, young adults and children in climbing the highest stair mountable in a bipedal fashion. Previous works have shown that the ratio between the height of the stair and the hip height was the body-scaled invariance adopted as information for selecting the highest stair by young adults [Journal of Experimental Psychology: Human Perception and Performance 10 (1984) 683-703] but not by older adults [Journal of Experimental Psychology: Human Perception and Performance 3 (1992) 691-697]. Indeed, for older adults additional bio-mechanical parameters needed to be added to the model due to their decrease in leg strength and flexibility.Up to now, no perceptual invariant has been identified yet for determining the relevant information used for guiding the stair climbing action for normal healthy people. We propose a new parameter as the angle defined by the ratio between the height of the stair and the distance taken from the feet to the top edge of the stair before the initiation of the movement. We show that this angle is the same for children, young adults and older adults despite the different kinematics of the motion, the anthropometrics and the skill ability exhibit by the participants. In summary we show that even when the climbability judgments, based on the simple ratio leg length-stair height, are influenced by differences in age, participants use a common perceptual variable when they are coordinating their stair climbing action.

Agreement of Clinical Judgments of Endfeel between 2 Sample Populations

Context:

The agreement of clinical judgments of endfeel between certified athletic trainers and orthopedic surgeons is not known.

Objectives:

To examine agreement of clinical judgments of endfeel between sample populations and explore the influence of clinician technique on sensitivity for determining ACL injury when performing an isolated examination procedure.

Design:

Randomized, blinded, controlled clinical trials.

Setting:

Laboratory.

Subjects:

1 orthopedic surgeon, 22 certified athletic trainers, and 12 model patients.

Main Outcome Measures:

Kappa coefficients were calculated to determine the agreement of clinical judgments of endfeel between the 2 populations sampled. Lachman-test sensitivity was measured using true positive and false negative interpretations.

Results:

Concurrence was poor for clinical judgments of endfeel. Sensitivity varied according to clinician technique.

Conclusion:

Agreement between the 2 populations sampled was influenced by the examiners’ diagnostic skills and their capacity to properly perform and interpret the Lachman test.

Feedback-dependent modulation of isometric force control: an EEG study in visuomotor integration

The primary purpose of this investigation was to examine the cortical mechanisms underlying visuomotor integration in an experiment directly manipulating visual feedback (control-signal gain) as participants executed a grasping task. This was accomplished by assessing human electroencephalograms in both time and frequency domains and relating these measures to the performance accuracy of isometric force control. The basic experimental manipulation consisted of subjects controlling a grip dynamometer and the subsequent force trace displayed on a computer monitor at various magnitudes of force output and control-signal gain. Several findings from this study were of interest. First, the effects of control-signal gain and its interplay with the magnitude of force were most evident across the parietal and frontocentral electrode locations--areas specifically related to multi-modal sensory evaluation (parietal lobe) and higher-order movement control (supplementary and mesial premotor areas). Second, electroencephalography (EEG) measures in the time domain, i.e., slow-wave potentials, were sensitive to control-signal gain only during the ramp phase of force production (period of reaching the target force), not the static phase (period of maintaining the target force level). Third, EEG measures within the frequency domain (event-related desynchronization), unlike the slow-wave potential measures, were sensitive to control-signal gain during the static phase of force production--a sensitivity that was directly related to improvements in the accuracy of isometric force control. The findings of this investigation are described in relation to the existent literature on human visuomotor integration with special attention paid to the distinct spatial and temporal electrocortical patterns exhibited under varying degrees of visual feedback and magnitudes of force output during grasping.