Control of Precision Grip Force in Lifting and Holding of Low-Mass Objects

An early force prediction control scheme using multimodal sensing of electromyography and digit force signals

Different grasping gestures result in the change of muscular activity of the forearm muscles. Similarly, the muscular activity changes with a change in grip force while grasping the object. This change in muscular activity, measured by a technique called Electromyography (EMG) is used in the upper limb bionic devices to select the grasping gesture. Previous research studies have shown gesture classification using pattern recognition control schemes. However, the use of EMG signals for force manipulation is less focused, especially during precision grasping. In this study, an early predictive control scheme is designed for the efficient determination of grip force using EMG signals from forearm muscles and digit force signals. The optimal pattern recognition (PR) control schemes are investigated using three different inputs of two signals: EMG signals, digit force signals and a combination of EMG and digit force signals. The features extracted from EMG signals included Slope Sign Change, Willison Amplitude, Auto Regressive Coefficient and Waveform Length. The classifiers used to predict force levels are Random Forest, Gradient Boosting, Linear Discriminant Analysis, Support Vector Machines, k-nearest Neighbors and Decision Tree. The two-fold objectives of early prediction and high classification accuracy of grip force level were obtained using EMG signals and digit force signals as inputs and Random Forest as a classifier. The earliest prediction was possible at 1000 ms from the onset of the gripping of the object with a mean classification accuracy of 90 % for different grasping gestures. Using this approach to study, an early prediction will result in the determination of force level before the object is lifted from the surface. This approach will also result in better biomimetic regulation of the grip force during precision grasp, especially for a population facing vision deficiency.

An ergonomic study of arborist work activities

Arborists work in high-risk environments, particularly when climbing trees, where a combination of grip strength and resistance to psychological stress are important attributes for safety. This study investigated the physical and cognitive activities of arborists combined with selected workload factors such as blood pressure, pulse, handgrip strength, and other anthropometric measurements, including manual dexterity and spatial awareness. The sample included 10 participants aged 17-48 years. Blood pressure was negatively correlated with handgrip strength after the activity had been performed. Different types of arborist activities led to various types of physiological feedback, as shown by the analysis of variance. According to our results, there is a difference between physical workloads, associated with activities such as tree felling, tree climbing, or chainsaw maintenance, and cognitive workloads, such as supervision or observation, in relation to blood pressure. Blood pressure was higher for activities that involved a cognitive workload. Before and after any activity, handgrip strength was positively associated with hand size. After any activity, greater changes in handgrip strength of the participant's right hand were associated with needing more time to successfully complete a peg test, which represents a greater cognitive burden. Our results suggest that arborists deal with physical activities such as tree felling, tree climbing, working with a chainsaw, and mental activities (supervising or observing) which were identified as two different groups correlated with hand grip strength, blood pressure, manual dexterity, and spatial awareness. In conclusion, the tree-climbing activity appeared to be the least stressful, and psychological stress appeared to have a greater impact on the health of observers and supervisors in the study group. This can be applied to other professions in many fields, including industries where workers face both physical and cognitive workloads.

Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation

Dexterous manipulation relies on the ability to simultaneously attain two goals: controlling object position and orientation (pose) and preventing object slip. Although object manipulation has been extensively studied, most previous work has focused only on the control of digit forces for slip prevention. Therefore, it remains underexplored how humans coordinate digit forces to prevent object slip and control object pose simultaneously. We developed a dexterous manipulation task requiring subjects to grasp and lift a sensorized object using different grasp configurations while preventing it from tilting. We decomposed digit forces into manipulation and grasp forces for pose control and slip prevention, respectively. By separating biomechanically-obligatory from non-obligatory effects of grasp configuration, we found that subjects prioritized grasp stability over efficiency in grasp force control. Furthermore, grasp force was controlled in an anticipatory fashion at object lift onset, whereas manipulation force was modulated following acquisition of somatosensory and visual feedback of object's dynamics throughout object lift. Mathematical modeling of feasible manipulation forces further confirmed that subjects could not accurately anticipate the required manipulation force prior to acquisition of sensory feedback. Our experimental approach and findings open new research avenues for investigating neural mechanisms underlying dexterous manipulation and biomedical applications.

Investigating gripping force during lifting tasks using a pressure sensing glove system

Lifting tasks remain one of the leading causes of musculoskeletal disorders (MSDs), primarily in the low back region. Lifting analysis tools are, therefore, designed for assessing the risk of low back pain. Shoulder musculoskeletal problems have emerged as common MSDs associated with manual handling tasks. It is hypothesized that gripping force is related to lifting conditions and may be used as a supplementary risk metric for MSDs in the shoulder and low back regions, because it measures additional hand exertions for coupling the lifted object during lifting. We assessed the capability tactile gloves for measuring the gripping force during lifting as a means for assessing different task conditions (lifting weight, lifting height, lifting direction, body rotation, and handle). Thirty participants wore the tactile gloves and performed simulated lifting tasks. Regression models were used to analyze the effects of the task variables on estimating the measured gripping force. Results demonstrated that 58% and 70% of the lifting weight variance were explained by the measured gripping force without and with considering the individual difference, respectively. In addition to the lifting risk measures commonly used by practitioners, this study suggests a potential for using gripping force as a supplementary or additional risk metric for MSDs.

Prediction of anatomically and biomechanically feasible precision grip posture of the human hand based on minimization of muscle effort

We developed a method to estimate a biomechanically feasible precision grip posture of the human hand for a given object based on a minimization of the muscle effort. The hand musculoskeletal model was constructed as a chain of 21 rigid links with 37 intrinsic and extrinsic muscles. To grasp an object, the static force and moment equilibrium condition of the object, force balance between the muscle and fingertip forces, and static frictional conditions must be satisfied. We calculated the hand posture, fingertip forces, and muscle activation signals for a given object to minimize the square sum of the muscle activations while satisfying the above kinetic constraints using an evolutionary optimization technique. To evaluate the estimated hand posture and fingertip forces, a wireless fingertip force-sensing device with two six-axis load cells was developed. When grasping the object, the fingertip forces and hand posture were experimentally measured to compare with the corresponding estimated values. The estimated hand postures and fingertip forces were in reasonable agreement to the corresponding measured data, indicating that the proposed hand posture estimation method based on the minimization of muscle effort is effective for the virtual ergonomic assessment of a handheld product.

Initial contact shapes the perception of friction

Humans have the remarkable ability to manipulate a large variety of objects, regardless of how fragile, heavy, or slippery they are. To correctly scale the grip forces, the nervous system gauges the slipperiness of the surface. This information is present at the instant we first touch an object, even before any lateral force develops. However, how friction could be estimated without slippage only from the fingertip skin deformation is not understood, either in neuroscience or engineering disciplines. This study demonstrates that a radial tensile strain of the skin is involved in the perception of slipperiness during this initial contact. These findings can inform the design of advanced tactile sensors for robotics or prosthetics and for improving haptic human–machine interactions.

Humans efficiently estimate the grip force necessary to lift a variety of objects, including slippery ones. The regulation of grip force starts with the initial contact and takes into account the surface properties, such as friction. This estimation of the frictional strength has been shown to depend critically on cutaneous information. However, the physical and perceptual mechanism that provides such early tactile information remains elusive. In this study, we developed a friction-modulation apparatus to elucidate the effects of the frictional properties of objects during initial contact. We found a correlation between participants’ conscious perception of friction and radial strain patterns of skin deformation. The results provide insights into the tactile cues made available by contact mechanics to the sensorimotor regulation of grip, as well as to the conscious perception of the frictional properties of an object.

Objective Assessment of Progression and Disease Characterization of Friedreich Ataxia via an Instrumented Drinking Cup: Preliminary Results

The monitoring of disease progression in certain neurodegenerative conditions can significantly be quantified with the help of objective assessments. The severity assessment of diseases like Friedreich ataxia (FRDA) are usually based on different subjective measures. The ability of a participant with FRDA to perform standard neurological tests is the most common way of assessing disease progression. In this feasibility study, an Ataxia Instrumented Measurement-Cup (AIM-C) is proposed to quantify the disease progression of 10 participants (mean age 39 years, onset of disease 16.3 years) in longitudinal timepoints. The device consists of a sensing system with the provision of extracting both kinetic and kinematic information while engaging in an activity closely associated with activities of daily living (ADL). A common functional task of simulated drinking was used to capture features that possesses disease progression information as well as certain other features which intrinsically correlate with commonly used clinical scales such as the modified Friedreich Ataxia Rating Scale (mFARS), the Functional Staging of Ataxia score and the ADL scale. Frequency and time-frequency domain features allowed the longitudinal assessment of participants with FRDA. Furthermore, both kinetic and kinematic measures captured clinically relevant features and correlated 85% with clinical assessments.

Structural connectivity differs between males and females in the brain object manipulation network

Object control skills are one of the most important abilities in daily life. Knowledge of object manipulation is an essential factor in improving object control skills. Although males and females equally try to use object manipulation knowledge, their object control abilities often differ. To explain this difference, we investigated how structural brain networks in males and females are differentially organized in the tool-preferring areas of the object manipulation network. The structural connectivity between the primary motor and premotor regions and between the inferior parietal regions in males was significantly higher than that in females. However, females showed greater structural connectivity in various regions of the object manipulation network, including the paracentral lobule, inferior parietal regions, superior parietal cortices, MT+ complex and neighboring visual areas, and dorsal stream visual cortex. The global node strength found in the female parietal network was significantly higher than that in males but not for the entire object manipulation, ventral temporal, and motor networks. These findings indicated that the parietal network in females has greater inter-regional structural connectivity to retrieve manipulation knowledge than that in males. This study suggests that differential structural networks in males and females might influence object manipulation knowledge retrieval.

Quantitative Assessment of Friedreich Ataxia via Self-Drinking Activity

Effective monitoring of the progression of neurodegenerative conditions can be significantly improved by objective assessments. Clinical assessments of conditions such as Friedreich's Ataxia (FA), currently rely on subjective measures commonly practiced in clinics as well as the ability of the affected individual to perform conventional tests of the neurological examination. In this study, we propose an ataxia measuring device, in the form of a pressure canister capable of sensing certain kinetic and kinematic parameters of interest to quantify the impairment levels of participants particularly when engaged in an activity that is closely associated with daily living. In particular, the functional task of simulated drinking was utilised to capture characteristic features of disability manifestation in terms of diagnosis (separation of individuals with FA and controls) and severity assessment of individuals diagnosed with the debilitating condition of FA. Time and frequency domain analysis of these biomarkers enabled the classification of individuals with FA and control subjects to reach an accuracy of 98% and a correlation level reaching 96% with the clinical scores.

Design of a fuzzy safety margin derivation system for grip force control of robotic hand in precision grasp task

In this study, the aim was to grasp and lift an unknown object without causing any permanent change on its shape using a robotic hand. When people lift objects, they add extra force for safety above the minimum limit value of the grasp force. This extra force is expressed as the “safety margin” in the literature. In the conducted study, the safety margin is minimized and the grasp force was controlled. For this purpose, the safety margin performance of human beings for object grasping was measured by the developed system. The obtained data were assessed for a fuzzy logic controller (FLC), and the fuzzy safety margin derivation system (SMDS) was designed. In the literature, the safety margin rate was reported to vary between 10% and 40%. To be the basis for this study, in the experimental study conducted to measure the grip performance of humans, safety margin ratios ranging from 9% to 20% for different surface friction properties and different weights were obtained. As a result of performance tests performed in Matlab/Simulink environment of FLC presented in this study, safety margin ratios ranging from 8% to 21% for different surface friction properties and weights were obtained. It was observed that the results of the performance tests of the developed system were very close to the data of human performance. The results obtained demonstrate that the designed fuzzy SMDS can be used safely in the control of the grasp force for the precise grasping task of a robot hand.

A TRIZ-driven conceptualisation of finger grip enhancer designs for the elderly

Background: Elderly people with severe finger weakness may need assistive health technology interventions. Finger weakness impedes the elderly in executing activities of daily living such as unbuttoning shirts and opening clothes pegs. While studies have related finger weakness with ageing effects, there appears to be no research that uses an algorithmic problem-solving approach such as the theory of inventive problem-solving (TRIZ) to recommend finger grip assistive technologies that resolve the issue of finger weakness among the elderly. Using TRIZ, this study aims to conceptualise finger grip enhancer designs for elderly people. Methods: Several TRIZ tools such as the cause-and-effect chain (CEC) analysis, engineering contradiction, physical contradiction, and substance-field analysis are used to conceptualise solutions that assist elderly people in their day-to-day pinching activities. Results: Based on the segmentation principle, a finger assistant concept powered by a miniature linear actuator is recommended. Specific product development processes are used to further conceptualise the actuation system. The study concluded that the chosen concept should use a DC motor to actuate fingers through tendon cables triggered by a push start button. Conclusions: Finger pinch degradation worsens the quality of life of the elderly. A finger grip enhancer that assists in day-to-day activities may be an effective option for elderly people, not only for their physical but also their mental well-being in society.

Visualizing shed skin cells in fingerprint residue using dark-field microscopy

This proof-of-concept study shows that dark-field microscopy provides sufficient contrast for cell visualization in fingerprints with high sebum content. Although the application is limited to smooth surfaces that do not scatter light, such as polyethylene terephthalate (PET), it was able to measure the number of cells deposited within a fingerprint residue and the reduction in cell transfer with repeated skin contact. On a PET surface, at roughly 5 N of contact force, a typical finger transfers several hundred cells onto the surface. Over subsequent finger contacts onto a clean PET surface, this number decreased exponentially until a steady state was reached, which is characterized by the transfer of (78 ± 36) cells or (0.46 ± 0.21) cells/mm² when normalized for fingerprint area. High uncertainty in cell transfer was due to: the highly variable nature of a human finger (where the number of loose cells varies from person to person and from day to day depending on what they touch) and difficulties in controlling the contact force and finger movement such as twisting during deposition (where twisting of the finger can expose a new patch of skin to the substrate, increasing the number of cell transfer). Plasma etching was also explored as an effective way to validate dark-field microscopy for cell counting. Although limited to inorganic substrates due to etching effects, exposing the fingerprint for less than 10 min can remove a majority of the sebum while keeping the cells intact for a before-and-after comparison using light microscopy.

Quantitative Assessment of Friedreich Ataxia through the self-drinking activity

The progression of neurodegenerative conditions can be effectively monitored and improved by using objective assessments. The conditions such as Friedreich Ataxia (FA) are clinically assessed by means of subjective measures commonly practised in clinics. Here, we propose a device capable of measuring ataxia, in the form of a `cup' capable of sensing certain kinematic parameters of interest while engaging in an activity that is closely related to daily living. In this study, the functional task of 'drinking' was utilised to diagnose participants with FA and capture features in terms of diagnosis (separation) and correlation with the clinical scales. Frequency domain analysis was incorporated enabling the classification of control subjects and FA patients to an accuracy of 88% with a correlation of 90% with the clinical scores.

Neural feedback strategies to improve grasping coordination in neuromusculoskeletal prostheses

Conventional prosthetic arms suffer from poor controllability and lack of sensory feedback. Owing to the absence of tactile sensory information, prosthetic users must rely on incidental visual and auditory cues. In this study, we investigated the effect of providing tactile perception on motor coordination during routine grasping and grasping under uncertainty. Three transhumeral amputees were implanted with an osseointegrated percutaneous implant system for direct skeletal attachment and bidirectional communication with implanted neuromuscular electrodes. This neuromusculoskeletal prosthesis is a novel concept of artificial limb replacement that allows to extract control signals from electrodes implanted on viable muscle tissue, and to stimulate severed afferent nerve fibers to provide somatosensory feedback. Subjects received tactile feedback using three biologically inspired stimulation paradigms while performing a pick and lift test. The grasped object was instrumented to record grasping and lifting forces and its weight was either constant or unexpectedly changed in between trials. The results were also compared to the no-feedback control condition. Our findings confirm, in line with the neuroscientific literature, that somatosensory feedback is necessary for motor coordination during grasping. Our results also indicate that feedback is more relevant under uncertainty, and its effectiveness can be influenced by the selected neuromodulation paradigm and arguably also the prior experience of the prosthesis user.

Evaluation of Load Distributions and Contact Areas in 4 Common Grip Types Used in Daily Living Activities

PURPOSE

Grip analysis systems, with sensors quantifying load distributions and contact areas applied by the hand while grasping objects, are useful for collecting and recording instant data; these systems are popular in hand assessment. The purpose of this study was to determine the load distribution (LD) and contact area (CA) size of the palmar surface of the hand during 4 common grip types used in activities of daily living (standard, lateral, pinch, and tripod grips).

METHODS

A convenience sample of 80 right-handed subjects were enrolled in this study. Participants wore special gloves equipped with sensors and grasped a variety of objects. Contact area size and LD were determined for the 4 grip types.

RESULTS

The CA and the LD were different for each grip. For standard grip, although the largest CA occurred at the metacarpophalangeal joint level, the largest LD was over the middle finger pulp. For standard grip, index, middle, and ring fingers appear to be loaded with almost the same frequency as the thumb. Although CA on the thumb was maximum in the pinch, lateral and tripod grip types, the LD on the thumb was not.

CONCLUSIONS

This study shows that the LD and CA patterns differ widely among standard, pinch, lateral, and tripod grips. The percentage of CA occurring on the thumb was maximum in all grip types.

CLINICAL RELEVANCE

This information is important to optimize the design of artificial manipulators or assistive devices and to optimize the hand rehabilitation process. In addition, results of the study can be used to guide the design of prostheses and biomedical implants better.

Human-Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation

The interaction of robot teams and single human in teleoperation scenarios is beneficial in cooperative tasks, for example, the manipulation of heavy and large objects in remote or dangerous environments. The main control challenge of the interaction is its asymmetry, arising because robot teams have a relatively high number of controllable degrees of freedom compared to the human operator. Therefore, we propose a control scheme that establishes the interaction on spaces of reduced dimensionality taking into account the low number of human command and feedback signals imposed by haptic devices. We evaluate the suitability of wearable haptic fingertip devices for multi-contact teleoperation in a user study. The results show that the proposed control approach is appropriate for human-robot team interaction and that the wearable haptic fingertip devices provide suitable assistance in cooperative manipulation tasks.

Short Intracortical Inhibition During Voluntary Movement Reveals Persistent Impairment Post-stroke

Objective: Short intracortical inhibition (SICI) is a GABA_A-mediated phenomenon, argued to mediate selective muscle activation during coordinated motor activity. Markedly reduced SICI has been observed in the acute period following stroke and, based on findings in animal models, it has been posited this disinhibitory phenomenon may facilitate neural plasticity and contribute to early motor recovery. However, it remains unresolved whether SICI normalizes over time, as part of the natural course of stroke recovery. Whether intracortical inhibition contributes to motor recovery in chronic stroke also remains unclear. Notably, SICI is typically measured at rest, which may not fully reveal its role in motor control. Here we investigated SICI at rest and during voluntary motor activity to determine: (1) whether GABA_A-mediated inhibition recovers, and (2) how GABA_A-mediated inhibition is related to motor function, in the chronic phase post-stroke.

Methods: We studied 16 chronic stroke survivors (age: 64.6 ± 9.3 years; chronicity: 74.3 ± 52.9 months) and 12 age-matched healthy controls. We used paired-pulse transcranial magnetic stimulation (TMS) to induce SICI during three conditions: rest, submaximal grip, and performance of box-and-blocks. Upper-extremity Fugl-Meyer Assessment and Box-and-Blocks tests were used to evaluate motor impairment in stroke survivors and manual dexterity in all participants, respectively.

Results: At rest, SICI revealed no differences between ipsilesional and contralesional hemispheres of either cortical or subcortical stroke survivors, or healthy controls (P's > 0.05). During box-and-blocks, however, ipsilesional hemisphere SICI was significantly reduced (P = 0.025), especially following cortical stroke (P < 0.001). SICI in the ipsilesional hemisphere during box-and-blocks task was significantly related to paretic hand dexterity (r = 0.56, P = 0.039) and motor impairment (r = 0.56, P = 0.037).

Conclusions: SICI during motor activity, but not rest, reveals persistent impairment in chronic stroke survivors indicating that inhibitory brain circuits responsible for motor coordination do not fully normalize as part of the natural history of stroke recovery. Observation that reduced SICI (i.e., disinhibition) is associated with greater motor impairment and worse dexterity in chronic hemiparetic individuals suggests the response considered to promote neuroplasticity and recovery in the acute phase could be maladaptive in the chronic phase post-stroke.

Effects of the Surface Texture and Weight of a Pinch Apparatus on the Reliability and Validity of a Hand Sensorimotor Control Assessment

OBJECTIVES

To investigate the reliability and validity of a modified pinch apparatus devised with 3 surface textures and 2 different weights for clinical application.

DESIGN

Case-controlled study.

SETTING

A university hospital.

PARTICIPANTS

The participants (N=32) included carpal tunnel syndrome (CTS) patients (n=16) with 20 sensory neuropathy hands, and an equal number of age-sex matched volunteers without CTS, as well as young volunteers without CTS (n=16 with 20 hands) used to analyze both the testing validity and reliability of the modified device.

INTERVENTIONS

Not applicable.

MAIN OUTCOME MEASURES

The Semmes-Weinstein monofilament (SWM) and two-point discrimination (2PD) tests were conducted, and the force ratio between the FP_peak (peak pinch force during lifting phase) and FL_max (maximum load force at maximum upward acceleration onset) detected from a pinch-holding-up activity (PHUA) under various testing conditions was obtained.

RESULTS

The range of the intraclass correlation coefficient of this pinch device was 0.369-0.952. The CTS patients exhibited poorer force modulation ability according to the inertial change in a dynamic lifting task when compared to the controls under all testing conditions (P<.001). The area under the receiver operating characteristic force ratio curve was 0.841, revealing high accuracy of the test for diagnosing CTS neuropathic hands under the testing condition in which the 125-g coarse texture device was used. In addition, the weight factor was shown to have significant effects on the sensitivity and accuracy of the PHUA assessment.

CONCLUSIONS

This study showed that the PHUA test via the modified pinch apparatus is a sensitive tool that can be used in clinical practice for detecting neuropathic CTS hands. In addition, changing the weight of the pinch device has a significant effect on the sensitivity and accuracy of the PHUA assessment.

Low Gain Servo Control During the Kohnstamm Phenomenon Reveals Dissociation Between Low-Level Control Mechanisms for Involuntary vs. Voluntary Arm Movements

The Kohnstamm phenomenon is a prolonged involuntary aftercontraction following a sustained voluntary isometric muscle contraction. The control principles of the Kohnstamm have been investigated using mechanical perturbations, but previous studies could not dissociate sensorimotor responses to perturbation from effects of gravity. We induced a horizontal, gravity-independent Kohnstamm movement around the shoulder joint, and applied resistive or assistive torques of 0.5 Nm after 20° angular displacement. A No perturbation control condition was included. Further, participants made velocity-matched voluntary movements, with or without similar perturbations, yielding a 2 × 3 factorial design. Resistive perturbations produced an increase in agonist electromyography (EMG), in both Kohnstamm and voluntary movements, while assistive perturbations produced a decrease. While overall Kohnstamm EMGs were greater than voluntary EMGs, the EMG responses to perturbation, when expressed as a percentage of unperturbed EMG activity, were significantly smaller during Kohnstamm movements than during voluntary movements. The results suggest that the Kohnstamm aftercontraction involves a central drive, coupled with low-gain servo control by a negative feedback loop between afferent input and a central motor command. The combination of strong efferent drive with low reflex gain may characterize involuntary control of postural muscles. Our results question traditional accounts involving purely reflexive mechanisms of postural maintenance. They also question existing high-gain, peripheral accounts of the Kohnstamm phenomenon, as well as accounts involving a central adaptation interacting with muscle receptors via a positive force feedback loop.

Viewing geometry determines the contribution of binocular vision to the online control of grasping

Binocular vision is often assumed to make a specific, critical contribution to online visual control of grasping by providing precise information about the separation between digits and object. This account overlooks the ‘viewing geometry’ typically encountered in grasping, however. Separation of hand and object is rarely aligned precisely with the line of sight (the visual depth dimension), and analysis of the raw signals suggests that, for most other viewing angles, binocular feedback is less precise than monocular feedback. Thus, online grasp control relying selectively on binocular feedback would not be robust to natural changes in viewing geometry. Alternatively, sensory integration theory suggests that different signals contribute according to their relative precision, in which case the role of binocular feedback should depend on viewing geometry, rather than being ‘hard-wired’. We manipulated viewing geometry, and assessed the role of binocular feedback by measuring the effects on grasping of occluding one eye at movement onset. Loss of binocular feedback resulted in a significantly less extended final slow-movement phase when hand and object were separated primarily in the frontoparallel plane (where binocular information is relatively imprecise), compared to when they were separated primarily along the line of sight (where binocular information is relatively precise). Consistent with sensory integration theory, this suggests the role of binocular (and monocular) vision in online grasp control is not a fixed, ‘architectural’ property of the visuo-motor system, but arises instead from the interaction of viewer and situation, allowing robust online control across natural variations in viewing geometry.