Prediction of handgrip forces using surface EMG of forearm muscles.

Evaluation of handgrip forces constitutes an essential component of ergonomic evaluation (e.g. of hand tools), but is difficult to perform at the workplace. The present study describes a series of experiments on 8 healthy male subjects to determine the validity of linear regression models using the surface electromyography (EMG) of up to 6 forearm muscles to predict handgrip forces. For isometric gripping tasks, normalized EMG to grip force calibrations using a series of dynamic force bursts up to 300 N resulted in a valid prediction of grip forces based on the EMG of 6 forearm muscles. Absolute differences between observed and predicted grip force were small (between 27 and 41 N) which shows that the proposed method might be used for the ergonomic evaluation of the use of hand tools. The EMG - handgrip force model appeared to be minimally affected by grip width, i.e. a model for 67 mm grip width was able to validly predict grip forces for 59 and 75 mm grip widths. Furthermore, it was shown that of the 6 forearm muscles studied at least 3 have to be assessed to arrive at a sufficient level of validity, while it seems to be irrelevant which 3 of those 6 forearm muscles are assessed.     

Phalanx force magnitude and trajectory deviation increased during power grip with an increased coefficient of friction at the hand-object interface

This study examined the effect of friction between the hand and grip surface on a person's grip strategy and force generation capacity. Twelve young healthy adults performed power grip exertions on an instrumented vertical cylinder with the maximum and 50% of maximum efforts (far above the grip force required to hold the cylinder), while normal and shear forces at each phalanx of all five fingers in the direction orthogonal to the gravity were recorded. The cylinder surface was varied for high-friction rubber and low-friction paper coverings. An increase in surface friction by replacing the paper covering with the rubber covering resulted in 4% greater mean phalanx normal force (perpendicular to the cylinder surface) and 22% greater mean phalanx shear force in either the proximal or distal direction of the digits (p<0.05; for both 50% and maximum grip efforts). Consequently, increased friction with the rubber surface compared to the paper surface was associated with a 20% increase in the angular deviation of the phalanx force from the direction normal to the cylinder surface (p<0.05). This study demonstrates that people significantly changed the magnitude and direction of phalanx forces depending on the surface they gripped. Such change in the grip strategy appears to help increase grip force generation capacity. This finding suggests that a seemingly simple power grip exertion involves sensory feedback-based motor control, and that people's power grip capacity may be reduced in cases of numbness, glove use, or injuries resulting in reduced sensation.     

Wrist splint effects on muscle activity and force during a handgrip task

Wrist splints are commonly prescribed to limit wrist motion and provide support at night and during inactive periods but are often used in the workplace. In theory, splinting the wrist should reduce wrist extensor muscle activity by stabilizing the joint and reducing the need for co-contraction to maintain posture. Ten healthy volunteers underwent a series of 24 10-s gripping trials with surface electromyography on 6 forearm muscles. Trials were randomized between splinted and nonsplinted conditions with three wrist postures (30 degrees flexion, neutral, and 30 degrees extension) and four grip efforts. Custom-made Plexiglas splints were taped to the dorsum of the hand and wrist. It was found that when simply holding the dynamometer, use of a splint led to a small (<1% MVE) but significant reduction in activity for all flexor muscles and extensor carpi radialis (all activity <4% maximum). At maximal grip, extensor muscle activity was significantly increased with the splints by 7.9-23.9% MVE. These data indicate that splinting at low-to-moderate grip forces may act to support the wrist against external loading, but appears counterproductive when exerting maximal forces. Wrist bracing should be limited to periods of no to light activity and avoided during tasks that require heavy efforts.     

A 3D biomechanical model of the hand for power grip

A three-dimensional scalable biomechanical model of the four fingers of the hand to evaluate power grip is proposed. The model has been validated by means of reproducing an experiment in which the subjects exerted the maximal voluntary grasping force over cylinders of different diameters. The model is used to simulate the cylinder grip for two hand sizes and for five different handle diameters. The reduction of the muscle forces using different handle diameters has been studied. The model can be applied to the design and evaluation of handles for power grip and to the study of power grasp for normal and abnormal hands.     

The influence of different target values and measurement times on the decreasing force curve during sustained static gripping work

The purposes of this study were to clarify the decreasing properties of, and to examine useful measurement times for evaluating muscle endurance in a comparison among various parameters using measurement times of 1, 3 and 6 mins and target values of 50, 75 and 100% MVC. Fifteen males and 15 females participated in this study. All subjects carried out sustained isometric gripping under nine conditions of measurement times and target forces, (1, 3 and 6 mins vs. 50, 75 and 100% MVC) with an interval of one or two days. The property of decreasing force in the initial phase (marked decreasing phase) differed among the target values, and the decreasing speed of the gripping force was highest for 100% MVC. However, the decreasing property after about 60 sec, in which the force decreased to about 30% MVC from the onset of grip, was similar among all target values, and then the gripping force reached an almost steady state phase at about 150-180 sec. In other words, the difference of the decreasing property during the initial phase with different target values was considered not to influence the property in the later phase, in which the force decreases to about 30% MVC. When muscle endurance is evaluated from the phase until reaching the steady state, it may be possible to evaluate the same property of the decreasing phase at 6 min as the measurement at 3 min. The measurement for 1 min at 50% MVC was not valid as an evaluation time because the grip force did not decrease enough. The integrated area in the initial phase was considered to depend on the magnitude of the target value, and the integrated area for 30 sec or 60 sec at 75% MVC was larger than that at 100% MVC. It was inferred that higher pain at 100% MVC resulted in a greater decrease in the speed of the force.     

A comparison of prehension force control in young and elderly individuals

Age-related changes were investigated in the control of precision grip force during the lifting and holding of objects with slippery (silk) and nonslippery (sandpaper) surface textures. Two groups of active elderly adults comprising individuals aged 69–79 years (n = 10), and 80–93 years (n = 10) together with a group of young adults aged 18–32 years (n = 10) participated in the study. Each subject lifted a free weight (3N) during which time gripping and lifting forces were monitored. The elderly subjects, especially the individuals in the 81–93 year group, had a larger number of fluctuations in the grip force rate curve and longer force application time than the younger subjects during lifting. The effect of prior experience with one surface on the following different surface was more pronounced in the younger subjects than the elderly subjects. These results suggest a decline in programmed force production capacity with increased age. The fingers of the elderly subjects were more slippery and they exhibited a greater safety margin of the grip force while holding the object than the younger adults. The overall results demonstrated that precision grip force control capacity declines with advancing age. It is suggested that this decline is due mainly to age-related changes in skin properties, and cutaneous sensibility functions, and in part to central nervous system function.     

Measurement of finger joint angles and maximum finger forces during cylinder grip activity

Finger joint angles and finger forces during maximal cylindrical grasping were measured using multi-camera photogrammetry and pressure-sensitive sheets, respectively. The experimental data were collected from four healthy subjects gripping cylinders of five different sizes. For joint angles, an image analysis system was used to digitize slides showing markers. During the calibration of the camera system, both the nonlinear least square and the direct linear transform methods were applied and compared, the former providing the fewer errors; it was used to determine joint angles. Data were collected from the pressure-sensitive grip films by using the same image analysis system as used in the collection of the joint angle data. The method of using pressure-sensitive sheets provided an estimation of the weighted centre of the phalangeal forces. Results indicate that finger flexion angles at the metacarpophalangeal and proximal interphalangeal joints gradually increase as cylinder diameter decreases, but that at the distal interphalangeal joint the angle remains constant throughout all cylinder sizes. It was also found that most of the radio-ulnar deviation and the axial rotation angles at the finger joints deviate from zero, but the deviations are small. For the force measurement, it was found that total finger force increases as cylinder size decreases, and the phalangeal force centres are not located at the mid-points of the phalanges. The data obtained in this experiment would be useful for muscle force predictions and for the design of handles.     

Gripping during climbing of arboreal snakes may be safe but not economical

On the steep surfaces that are common in arboreal environments, many types of animals without claws or adhesive structures must use muscular force to generate sufficient normal force to prevent slipping and climb successfully. Unlike many limbed arboreal animals that have discrete gripping regions on the feet, the elongate bodies of snakes allow for considerable modulation of both the size and orientation of the gripping region. We quantified the gripping forces of snakes climbing a vertical cylinder to determine the extent to which their force production favoured economy or safety. Our sample included four boid species and one colubrid. Nearly all of the gripping forces that we observed for each snake exceeded our estimate of the minimum required, and snakes commonly produced more than three times the normal force required to support their body weight. This suggests that a large safety factor to avoid slipping and falling is more important than locomotor economy.     

Measuring system for in vivo recording of force systems in orthodontic treatment-concept and analysis of accuracy

The aim of our developments is three-dimensional in vivo recording of those orthodontic force systems inducing tooth movements during treatment with fixed appliances. The concept presented here is the first to permit the forces and torques of these statically multiply undetermined systems to be recorded in vivo. For this purpose the force systems transmitted to the teeth from the archwire are isolated from the respective tooth by means of divisible special-design brackets and introduced into a 3D force torque sensor via a gripping appliance. The sensor is fixed with a purpose-developed device relative to the patient's dental arch. The patient's head is positioned relative to the system by means of a bite fork as well as a forehead and chin support. Electrical measurement of the mechanical quantities is carried out by a six-axis force torque sensor with semiconductor strain gauge elements, an electronical evaluator and a mobile measuring computer (PC). Extensive calibration of the sensor system has shown that the measuring uncertainty of the electrical measuring is less than 2%. Precise spatial fixing of bracket slot and archwire in the therapeutic position is crucial to the measuring accuracy of the system, as even minimum displacements affect the force system to be measured. Movements of the measuring system up to 0.04 mm result from a therapeutic force of 1.5 N. The results of extensive in vitro studies have already demonstrated that the system developed by us is suitable for the specified in vivo measuring function.     

Targeted gripping reduces shoulder muscle activity and variability

The purpose of this study was to determine if the effect of visually targeted gripping on shoulder muscle activity was maintained with repeated exposures. Eleven healthy males had eight shoulder muscles monitored via surface electromyography while maintaining shoulder elevation at 90° in the scapular plane with and without a 30% grip force. Three non-gripping trials were followed by 15 gripping trials and another 3 non-gripping control trials. Gripping significantly decreased the activity of the anterior deltoid, trapezius, and latissimus dorsi over the exposure of 15 trials. Gripping also reduced variability in all muscles' activity. The changes in shoulder muscle activity are likely in response to forces being transferred through multi-articular muscles spanning from the forearm to the shoulder. Targeted gripping during shoulder elevation resulted in small but significant decreases in muscle activity and reduced variability which supports previous evidence for increased risk of upper extremity disorders in occupational settings.     

Grip force variability and its effects on children's handwriting legibility, form, and strokes

A comprehensive understanding of the underlying biomechanical processes during handwriting is needed to accurately guide clinical interventions. To date, quantitative measurement of such biomechanical processes has largely excluded measurements of the forces exerted radially on the barrel of the writing utensil (grip forces) and how they vary over time during a handwriting task. An instrumented writing utensil was deployed for a direct measurement of kinematic and temporal information during a writing task, as well as forces exerted on the writing surface and on the barrel of the pen. The writing utensil was used by a cohort of 35 students (19 males), 16 in first grade and 19 in second grade, as they performed the Minnesota Handwriting Assessment (MHA) test. Quantitative grip force variability measures were computed and tested as correlates of handwriting legibility, form, and strokes. Grip force variability was shown to correlate strongly with handwriting quality, in particular for students classified by the MHA as nonproficient writers. More specifically, static grip force patterns were shown to result in poor handwriting quality and in greater variation in handwriting stroke durations. Grip force variability throughout the writing task was shown to be significantly lower for nonproficient writers (t-test, p<0.01) while the number of strokes and per-stroke durations were shown to be higher (p<0.03). The results suggest that grip force dynamics play a key role in determining handwriting quality and stroke characteristics. In particular, students with writing difficulties exhibited more static grip force patterns, lower legibility and form scores, as well as increased variation in stroke durations. These findings shed light on the underlying processes of handwriting and grip force modulation and may help to improve intervention planning.     

Elbow and wrist joint contact forces during occupational pick and place activities

A three-dimensional, mathematical model of the elbow and wrist joints, including 15 muscle units, 3 ligaments and 4 joint forces, has been developed. A new strain gauge transducer has been developed to measure functional grip forces. The device measures radial forces divided into six components and forces of up to 250N per segment can be measured with an accuracy of +/-1%. Ten normal volunteers were asked to complete four tasks representing occupational activities, during which time their grip force was monitored. Together with kinematic information from the six-camera Vicon data, the moment effect of these loads at the joints was calculated. These external moments are assumed to be balanced by the internal moments, generated by the muscles, passive soft tissue and bone contact. The effectiveness of the body's internal structures in generating joint moments was assessed by studying the geometry of a simplified model of the structures, where information about the lines of action and moment arms of muscles, tendons and ligaments is contained. The assumption of equilibrium between these external and internal joint moments allows formulation of a set of equations from which muscle and joint forces can be calculated. A two stage, linear optimisation routine minimising the overall muscle stress and the sum of the joint forces has been used to overcome the force-sharing problem. Humero-ulnar forces of up to 1600N, humero-radial forces of up to 800N and wrist joint forces of up to 2800N were found for moderate level activity. The model was validated by comparison with other studies.     

Variation of finger forces in maximal isometric grasp tests on a range of cylinder diameters

An investigation of maximal isometric cylindrical grasping actions of the hand is reported. A dynamometer is described which allows simultaneous measurement of both the normal forces and the tangential shear forces imposed by each of the three phalangeal segments of a finger during a test. Seventeen subjects were tested, grasping cylinders 31–116 mm in diameter. Normal grasp forces decreased significantly as cylinder size increased, while with large diameters, shear forces moved the skin towards the finger tip. In all cases the distal segments of the fingers imposed forces significantly larger than those of the middle and proximal segments. The mean contributions of fingers from index to little were: 30, 30, 22 and 18%, proportions that did not vary significantly for the range of grasp diameters. Forces acting during grasping activities are reported in greater detail, for a wider range of hand gripping postures, than previously available. These data are useful in the design of hand operated controls or in the prediction of tendon and joint forces in vivo for the design of implants.     

Biomechanical properties of the crimp grip position in rock climbers

Rock climbers are often using the unique crimp grip position to hold small ledges. Thereby the proximal interphalangeal (PIP) joints are flexed about 90 degrees and the distal interphalangeal joints are hyperextended maximally. During this position of the finger joints bowstringing of the flexor tendon is applying very high load to the flexor tendon pulleys and can cause injuries and overuse syndromes. The objective of this study was to investigate bowstringing and forces during crimp grip position. Two devices were built to measure the force and the distance of bowstringing and one device to measure forces at the fingertip. All measurements of 16 fingers of four subjects were made in vivo. The largest amount of bowstringing was caused by the flexor digitorum profundus tendon in the crimp grip position being less using slope grip position (PIP joint extended). During a warm-up, the distance of bowstringing over the distal edge of the A2 pulley increased by 0.6mm (30%) and was loaded about 3 times the force applied at the fingertip during crimp grip position. Load up to 116N was measured over the A2 pulley. Increase of force in one finger holds by the quadriga effect was shown using crimp and slope grip position.     

Positive force feedback in development of substrate grip in the stick insect tarsus

The mechanics of substrate adhesion has recently been intensively studied in insects but less is known about the sensorimotor control of substrate engagement. We characterized the responses and motor effects of tarsal campaniform sensilla in stick insects to understand how sensory signals of force could contribute to substrate grip. The tarsi consist of a chain of segments linked by highly flexible articulations. Morphological studies showed that one to four campaniform sensilla are located on the distal end of each segment. Activities of the receptors were recorded neurographically and sensilla were identified by stimulation and ablation of their cuticular caps. Responses were characterized to bending forces and axial loads, muscle contractions and to forces applied to the retractor apodeme (tendon). The tarsal sensilla effectively encoded both the rate and amplitude of loads and muscle forces, but only when movement was resisted. Mechanical stimulation of the receptors produced activation of motor neurons in the retractor unguis and tibial flexor muscles. These findings indicate that campaniform sensilla can provide information about the effectiveness of the leg muscles in generating substrate adherence. They can also produce positive force feedback that could contribute to the development of substrate grip and stabilization of the tarsal chain.     

A new manual power grip

A manual power grip for holding a cylindrical object using a relaxed index finger is described and analysed. In a group of 21 young adult students it provided greater grip strength than the conventional oblique power grip. It allowed a significant increase in the range of adduction-abduction at the wrist. In recent years it appears to have been empirically used by a number of top class racquet players and is the basis of the modern assault rifle grip. A new design of strain gauge dynamometer, in the shape of a cylinder, which permits the testing of a number of grip types and wrist positions is described. Standard grip testing protocol is used with this device which also allows the concomitant use of a goniometer for the assessment of wrist mobility.     

Examination of the reproducibility of grip force and muscle oxygenation kinetics on maximal repeated rhythmic grip exertion

The contribution of physiological mechanisms involving force-exertion value during maximal repeated rhythmic muscle contraction work changes over time. The purpose of this study was to examine the reproducibility of grip force and muscle oxygenation kinetics with a decrease of the gripping force during maximal repeated rhythmic grip (RRG). Subjects were 10 males, aged 20-26 years (height 173.9+/-7.3 cm, body weight 71.5+/-11.2 kg). Each subject performed maximal repeated rhythmic grip as a target value with a target frequency of 30 grips.min(-1) for 6 min. The trial-to-trial reproducibility of Oxygenated haemoglobin (Oxy-Hb), Deoxygenated haemoglobin (Deoxy-Hb), Total haemoglobin (Total Hb) and grip force during the RRG (6 min) was very high (r(xy)=0.919-0.966) and the decreasing pattern of the force-time curve was consistent. The cross correlation coefficients of the grip force (r(xy)=0.985) and muscle oxygenation kinetics (Total Hb: 0.996, Oxy-Hb: 0.992, Deoxy-Hb: 0.995) in the pre-inflection phase (marked force decreasing phase) were very high, while these coefficients in the post-inflection phase (almost steady state phase) were low as compared with those in the pre-inflection phase. The trial-to-trial reliabilities of any parameter regarding grip were fair or high (ICC=0.686-0.927). The changing points of muscle oxygenation kinetics appeared before reaching an almost steady state, which showed a high reliability and they were considered to reflect the shift of physiological mechanisms. In particular, the intraclass correlation coefficients (ICC) for the time to reach maximum Deoxy-Hb and Oxy-Hb values and regression coefficient in an increasing phase of Oxy-Hb were very high (ICC=0.894-0.947). It was found that the trial-to-trial reproducibility of grip force and muscle oxygenation kinetics is very high during the whole 6 min in RRG, but is poor during the post-inflection phase. The reproducibility of the grip force and muscle oxygenation kinetics in the phase before reaching an almost steady state during RRG is fair, and the decrease of the grip force in this phase may be influenced by the muscle oxygenation kinetics.     

Effect of object width on muscle and joint forces during thumb-index finger grasping

The objective of this study was to identify the impact of modifying the object width on muscle and joint forces while gripping objects. The experimental protocol consisted to maintain horizontally five objects of different widths (3.5, 4.5, 5.5, 6.5, and 7.5 cm) with a thumb-index finger grip. Subjects were required to grasp spontaneously the object without any instruction regarding the grip force (GF) to apply. A biomechanical model of thumb-index finger pinch was developed to estimate muscle and joint forces. This model included electromyography, fingertip force, and kinematics data as inputs. The finger joint postures and the GF varied across the object widths. The estimated muscle forces also varied significantly according to the object width. Interestingly, we observed that the muscle force/GF ratios of major flexor muscles remain particularly stable with respect to the width whereas other muscle ratios differed largely. This may argue for a control strategy in which the actions of flexors were preserved in spite of change in joint postures. The estimated joint forces tended to increase with object width and increased in the distal-proximal sense. Overall, these results are of importance for the ergonomic design of handheld objects and for clinical applications.     

Neuromechanical control of the forearm muscles during gripping with sudden flexion and extension wrist perturbations

The purpose of this study was to investigate how gripping modulates forearm muscle co-contraction prior to and during sudden wrist perturbations. Ten males performed a sub-maximal gripping task (no grip, 5% and 10% of maximum) while a perturbation forced wrist flexion or extension. Wrist joint angles and activity from 11 muscles were used to determine forearm co-contraction and muscle contributions to wrist joint stiffness. Co-contraction increased in all pairs as grip force increased (from no grip to 10% grip), corresponding to a 36% increase in overall wrist joint stiffness. Inclusion of individual muscle contributions to wrist joint stiffness enhanced the understanding of forearm co-contraction. The extensor carpi radialis longus (ECRL) and brevis had the largest stiffness contributions (34.5 ± 1.3% and 20.5 ± 2.3%, respectively), yet muscle pairs including ECRL produced the lowest co-contraction. The muscles contributing most to wrist stiffness were consistent across conditions (ECRL for extensors; Flexor Digitorum Superficialis for flexors), suggesting enhanced contributions rather than muscular redistribution. This work provides investigation of the neuromuscular response to wrist perturbations and gripping demands by considering both co-contraction and muscle contributions to joint stiffness. Individual muscle stiffness contributions can be used to enhance the understanding of forearm muscle control during complex tasks.     

The role of cutaneous feedback for anticipatory grip force adjustments during object movements and externally imposed variation of the direction of gravity

Grip force adjustments to changes of object loading induced by external changes of the direction of gravity during discrete arm movements with a grasped object were analyzed during normal and anesthetized finger sensibility. Two subjects were seated upright in a rotatable chair and rotated backwards into a horizontal position during discrete movements with a hand-held instrumented object. The movement direction varied from vertical to horizontal inducing corresponding changes in the direction of gravity, but the orientation of the movement in relation to the body remained unaffected. During discrete vertical movements a maximum of load force occurs early in upward and late in downward movements; during horizontal movements two load force peaks result from both acceleratory and deceleratory phases of the movement. During performance with normal finger sensibility grip force was modulated in parallel with fluctuations of load force during vertical and horizontal movements. The grip force profile adopted to the varying load force profile during the transition from the vertical to the horizontal position. The maximum grip force occurred at the same time of maximum load force irrespective of the movement plane. During both subjects' first experience of digital anesthesia the object slipped from the grasp during rotation to the horizontal plane. During the following trials with anesthetized fingers subjects substantially increased their grip forces, resulting in elevated force ratios between maximum grip and load force. However, grip force was still modulated with the movement-induced load fluctuations and maximum grip force coincided with maximum load force during vertical and horizontal movements. This implies that the elevated force ratio between maximum grip and load force does not alter the feedforward system of grip force control. Cutaneous afferent information from the grasping digits seems to be important for the economic scaling of the grip force magnitude according to the actual loading conditions and for reactive grip force adjustments in response to load perturbations. However, it plays a subordinate role for the precise anticipatory temporal coupling between grip and load forces during voluntary object manipulation.