The scaling of human grip configurations

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.

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.

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.

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.

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.

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.

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.

Multifinger prehension: an overview

The authors review the available experimental evidence on what people do when they grasp an object with several digits and then manipulate it. The article includes three parts, each addressing a specific aspect of multifinger prehension. In the first part, the authors discuss manipulation forces (i.e., the resultant force and moment of force exerted on the object) and the digits' contribution to such forces' production. The second part deals with internal forces defined as forces that cancel each other and do not disturb object equilibrium. The authors discuss the role of the internal forces in maintaining the object stability, with respect to such issues as slip prevention, tilt prevention, and resistance to perturbations. The third part is devoted to the motor control of prehension. It covers such topics as prehension synergies, chain effects, the principle of superposition, interfinger connection matrices and reconstruction of neural commands, mechanical advantage of the fingers, and the simultaneous digit adjustment to several mutually reinforcing or conflicting demands.