Grasping the Changes Seen in Older Adults When Reaching for Objects of Varied Texture

Old age is associated with reduced mobility of the hand. To investigate age related decline when reaching-to-lift an object we used sophisticated kinematic apparatus to record reaches carried out by healthy older and younger participants. Three objects of different widths were placed at three different distances, with objects having either a high or low friction surface (i.e. rough or slippery). Older participants showed quantitative differences to their younger counterparts – movements were slower and peak speed did not scale with object distance. There were also qualitative differences with older adults showing a greater propensity to stop the hand and adjust finger position before lifting objects. The older participants particularly struggled to lift wide slippery objects, apparently due to an inability to manipulate their grasp to provide the level of precision necessary to functionally enclose the object. These data shed light on the nature of age related changes in reaching-to-grasp movements and establish a powerful technique for exploring how different product designs will impact on prehensile behavior.     

Muscular responses to handle perturbation with different glove condition

Effect of wearing gloves on timely muscle reaction to stabilize handle perturbation was investigated. Thirteen adults gripped a horizontal overhead handle to which an upward force was applied at a random time. Muscle reaction time, integrated EMGs for eight muscles, and handle displacement were compared among three glove conditions affecting the coefficient of friction (COF = 0.32, 0.50, and 0.74 for the polyester glove, bare hand, and latex glove, respectively). Lower COF increased the integrated EMGs and handle displacement until stabilization of the perturbed handle. The low-friction glove resulted in 16% (p = .01) greater muscular effort and 20% (p = .002) greater handle displacement, compared to the high-friction glove. Muscle reaction time was not influenced by glove condition. Cutaneous sensation and reflex eliciting forearm muscle activity appear to play an important role in detecting and responding to the perturbation initially, while the forearm and latissimus dorsi muscles primarily contribute to stabilizing the perturbed handle compared to other shoulder and upper arm muscles. Therefore, low-friction gloves, cutaneous sensory dysfunction, and weakened forearm and latissimus dorsi muscles may jeopardize persons’ ability to stabilize a grip of a handle after perturbation.     

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.     

Control of Fingertip Forces in Young and Older Adults Pressing against Fixed Low- and High-Friction Surfaces

Mobile computing devices (e.g., smartphones and tablets) that have low-friction surfaces require well-directed fingertip forces of sufficient and precise magnitudes for proper use. Although general impairments in manual dexterity are well-documented in older adults, it is unclear how these sensorimotor impairments influence the ability of older adults to dexterously manipulate fixed, low-friction surfaces in particular. 21 young and 18 older (65+ yrs) adults produced maximal voluntary contractions (MVCs) and steady submaximal forces (2.5 and 10% MVC) with the fingertip of the index finger. A Teflon covered custom-molded splint was placed on the fingertip. A three-axis force sensor was covered with either Teflon or sandpaper to create low- and high-friction surfaces, respectively. Maximal downward forces (F_z) were similar (p = .135) for young and older adults, and decreased by 15% (p<.001) while pressing on Teflon compared to sandpaper. Fluctuations in F_z during the submaximal force-matching tasks were 2.45× greater (p<.001) for older adults than in young adults, and reached a maximum when older adults pressed against the Teflon surface while receiving visual feedback. These age-associated changes in motor performance are explained, in part, by altered muscle activity from three hand muscles and out-of-plane forces. Quantifying the ability to produce steady fingertip forces against low-friction surfaces may be a better indicator of impairment and disability than the current practice of evaluating maximal forces with pinch meters. These age-associated impairments in dexterity while interacting with low-friction surfaces may limit the use of the current generation of computing interfaces by older adults.     

Kinematic study of the temporal coupling between the components of transport and manipulation during reaching and grasping movements

In this study the temporal coupling between transport and manipulation components of prehension movements was tested. For this purpose two experiments were carried out. In Experiment 1 six normal subjects were required to reach and grasp one of three spheres located at three different distances (Blocked trials). In Experiment 2 a visual perturbation paradigm was used in which the location of the object to be reached and grasped could change at onset of arm movement (Perturbed trials). The results of this study exclude a temporal coupling between events of transport and manipulation components. On the contrary they suggest that manipulation component organizes its time course having information about the time required to reach the object.     

Primary motor cortex neuronal discharge during reach-to-grasp: controlling the hand as a unit

This study has begun to test the hypothesis that aspects of hand/object shape are represented in the discharge of primary motor cortex (M1) neurons. Two monkeys were trained in a visually cued reach-to-grasp task, in which object properties and grasp forces were systematically varied. Behavioral analyses show that the reach and grasp force production were constant across the objects. The discharge of M1 neurons was highly modulated during the reach and grasp. Multiple linear regressions models revealed that the M1 discharge was highly dependent on the object grasped, with object class, volume, orientation and grasp force as significant predictors. These findings are interpreted as evidence that the CNS controls the hand as a unit.     

How Weight Affects the Perceived Spacing between the Thumb and Fingers during Grasping

We know much about mechanisms determining the perceived size and weight of lifted objects, but little about how these properties of size and weight affect the body representation (e.g. grasp aperture of the hand). Without vision, subjects (n = 16) estimated spacing between fingers and thumb (perceived grasp aperture) while lifting canisters of the same width (6.6cm) but varied weights (300, 600, 900, and 1200 g). Lifts were performed by movement of either the wrist, elbow or shoulder to examine whether lifting with different muscle groups affects the judgement of grasp aperture. Results for perceived grasp aperture were compared with changes in perceived weight of objects of different sizes (5.2, 6.6, and 10 cm) but the same weight (600 g). When canisters of the same width but different weights were lifted, perceived grasp aperture decreased 4.8% [2.2 ‒ 7.4] (mean [95% CI]; P < 0.001) from the lightest to the heaviest canister, no matter how they were lifted. For objects of the same weight but different widths, perceived weight decreased 42.3% [38.2 ‒ 46.4] from narrowest to widest (P < 0.001), as expected from the size-weight illusion. Thus, despite a highly distorted perception of the weight of objects based on their size, we conclude that proprioceptive afferents maintain a reasonably stable perception of the aperture of the grasping hand over a wide range of object weights. Given the small magnitude of this ‘weight-grasp aperture’ illusion, we propose the brain has access to a relatively stable ‘perceptual ruler’ to aid the manipulation of different objects.     

Object retrieval by Norway rats as a framework for preference and choice

Object retrieval by Norway rats consists of locomotion to an object, object seizure, carriage to a refuge and release. These studies examined choices in this sequence and object preferences (relative numbers retrieved) for objects varying in sweetness. In Experiment 1, rats could retrieve two types of object on each trial, drawn from a set of three, each placed in quantity in one arm of a Y-maze connected to the home cage. After a period of learning, a stable preference hierarchy was demonstrated that depended on choices in different parts of the retrieval sequence i.e. decision making was broadly distributed. For the middle object in the hierarchy, response probabilities varied with object pairing, suggesting that rats responded in terms of object-sets. Preferences also involved rapid updating at the beginning of each trial (working memory) manifested in shifts in responding in all segments that supported consistent choices. Experiments 2–3, with an empty arm as an extra alternative, indicated that visits to an arm with less-preferred objects represented exploration interspersed with retrieval. Preference and choice are fundamental to object retrieval in this species and choice consistency in a dynamic environment is based on learning and memory.     

Perceiving Object Shape from Specular Highlight Deformation,Boundary Contour Deformation,and Active Haptic Manipulation

It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners) are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped “glaven”) for 12 seconds and were required to indicate which of 12 (for bell peppers) or 8 (for glavens) simultaneously visible objects possessed the same shape. The initial single object’s shape was defined either by boundary contours alone (i.e., presented as a silhouette), specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see) the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation) was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions–e.g., the participants’ performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions). The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision.     

Grasping Objects with Environmentally Induced Position Uncertainty

Due to noisy motor commands and imprecise and ambiguous sensory information, there is often substantial uncertainty about the relative location between our body and objects in the environment. Little is known about how well people manage and compensate for this uncertainty in purposive movement tasks like grasping. Grasping objects requires reach trajectories to generate object-fingers contacts that permit stable lifting. For objects with position uncertainty, some trajectories are more efficient than others in terms of the probability of producing stable grasps. We hypothesize that people attempt to generate efficient grasp trajectories that produce stable grasps at first contact without requiring post-contact adjustments. We tested this hypothesis by comparing human uncertainty compensation in grasping objects against optimal predictions. Participants grasped and lifted a cylindrical object with position uncertainty, introduced by moving the cylinder with a robotic arm over a sequence of 5 positions sampled from a strongly oriented 2D Gaussian distribution. Preceding each reach, vision of the object was removed for the remainder of the trial and the cylinder was moved one additional time. In accord with optimal predictions, we found that people compensate by aligning the approach direction with covariance angle to maintain grasp efficiency. This compensation results in higher probability to achieve stable grasps at first contact than non-compensation strategies in grasping objects with directional position uncertainty, and the results provide the first demonstration that humans compensate for uncertainty in a complex purposive task.     

Grasping the past. delay can improve visuomotor performance.

"Optic ataxia" is caused by damage to the human posterior parietal cortex (PPC). It disrupts all components of a visually guided prehension movement, not only the transport of the hand toward an object's location, but also the in-flight finger movements pretailored to the metric properties of the object. Like previous cases, our patient (I.G.) was quite unable to open her handgrip appropriately when directly reaching out to pick up objects of different sizes. When first tested, she failed to do this even when she had previewed the target object 5 s earlier. Yet despite this deficit in "real" grasping, we found, counterintuitively, that I.G. showed good grip scaling when "pantomiming" a grasp for an object seen earlier but no longer present. We then found that, after practice, I.G. became able to scale her handgrip when grasping a real target object that she had previewed earlier. By interposing catch trials in which a different object was covertly substituted for the original object during the delay between preview and grasp, we found that I.G. was now using memorized visual information to calibrate her real grasping movements. These results provide new evidence that "off-line" visuomotor guidance can be provided by networks independent of the PPC.     

Relation between object properties and EMG during reaching to grasp

In order to stably grasp an object with an artificial hand, a priori knowledge of the object’s properties is a major advantage, especially to ensure subsequent manipulation of the object held by the hand. This is also true for hand prostheses: pre-shaping of the hand while approaching the object, similar to able-bodied, allows the wearer for a much faster and more intuitive way of handling and grasping an object. For hand prostheses, it would be advantageous to obtain this information about object properties from a surface electromyography (sEMG) signal, which is already present and used to control the active prosthetic hand.We describe experiments in which human subjects grasp different objects at different positions while their muscular activity is recorded through eight sEMG electrodes placed on the forearm. Results show that sEMG data, gathered before the hand is in contact with the object, can be used to obtain relevant information on object properties such as size and weight.     

A simple rule of thumb for elegant prehension

Reaching out to grasp an object (prehension) is a deceptively elegant and skilled behavior. The movement prior to object contact can be described as having two components, the movement of the hand to an appropriate location for gripping the object, the "transport" component, and the opening and closing of the aperture between the fingers as they prepare to grip the target, the "grasp" component. The grasp component is sensitive to the size of the object, so that a larger grasp aperture is formed for wider objects; the maximum grasp aperture (MGA) is a little wider than the width of the target object and occurs later in the movement for larger objects. We present a simple model that can account for the temporal relationship between the transport and grasp components. We report the results of an experiment providing empirical support for our "rule of thumb." The model provides a simple, but plausible, account of a neural control strategy that has been the center of debate over the last two decades.     

Motor control of downward object-transport movements with precision grip by object weight

In the present study, we investigated the kinematics of object-transport movement in a downward direction using a precision grip, to elucidate how the central nervous system (CNS) takes into account object weight when making the movement, even when participants are unable to recognize the weight until they grasp the object. We found that the kinematics during transport movement were significantly changed by the object weight, even when the weight was unrecognized visually, suggesting that the CNS controls object-transport movement in a downward direction according to object weight, regardless of the visual recognizability of the weight.     

Sloughing of root cap cells decreases the frictional resistance to maize (Zea mays L.) root growth

Root caps provide a protective layer in front of the meristemthat protects the meristem from abrasion by soil particles.The continuous production and sloughing of the root cap cellsmay be an adaptation to decrease the friction at the soil-rootinterface by acting as a low-friction lining to the channelformed by the root. Experiments were performed which providethe first direct evidence that such cell sloughing decreasesfrictional resistance to root penetration. The penetration resistance (force per unit crosssectional area)to maize roots, which were pushed mechanically into the soil,was compared with the penetration resistance to growing rootsand to 1 mm diameter metal probes (cone semi-angles of 7.5or 30). The pushed roots experienced only about 40% of thepenetration resistance experienced by the 7.5 metal probe thatwas pushed into the soil at the same rate. Thus, the frictionbetween the soil and the pushed root was much smaller than betweenthe soil and the metal probe. The penetration resistance tothe growing root was between 50% and 100% of that to the pushedroot, indicating that the relief of friction and slower rateof soil compression were more efficient around the growing root.SEM examination of the surface of roots pushed or grown intothe soil showed that numerous root cap cells had detached fromthe cap and slid for several millimetres relative to the root.The low friction properties of roots may be due largely to thelow coefficient of friction between sloughing root cap cells,and may be decreased further by intracellular mucilage secretions. Key words: Zea mays, root cap, frictional resistance, root penetration, cell sloughing     

Flexible representations of dynamics are used in object manipulation

To manipulate an object skillfully, the brain must learn its dynamics, specifying the mapping between applied force and motion. A fundamental issue in sensorimotor control is whether such dynamics are represented in an extrinsic frame of reference tied to the object or an intrinsic frame of reference linked to the arm. Although previous studies have suggested that objects are represented in arm-centered coordinates [1-6], all of these studies have used objects with unusual and complex dynamics. Thus, it is not known how objects with natural dynamics are represented. Here we show that objects with simple (or familiar) dynamics and those with complex (or unfamiliar) dynamics are represented in object- and arm-centered coordinates, respectively. We also show that objects with simple dynamics are represented with an intermediate coordinate frame when vision of the object is removed. These results indicate that object dynamics can be flexibly represented in different coordinate frames by the brain. We suggest that with experience, the representation of the dynamics of a manipulated object may shift from a coordinate frame tied to the arm toward one that is linked to the object. The additional complexity required to represent dynamics in object-centered coordinates would be economical for familiar objects because such a representation allows object use regardless of the orientation of the object in hand.     

Word Generalization by a Dog (Canis familiaris): Is Shape Important?

We investigated the presence of a key feature of human word comprehension in a five year old Border Collie: the generalization of a word referring to an object to other objects of the same shape, also known as shape bias. Our first experiment confirmed a solid history of word learning in the dog, thus making it possible for certain object features to have become central in his word comprehension. Using an experimental paradigm originally employed to establish shape bias in children and human adults we taught the dog arbitrary object names (e.g. dax) for novel objects. Two experiments showed that when briefly familiarized with word-object mappings the dog did not generalize object names to object shape but to object size. A fourth experiment showed that when familiarized with a word-object mapping for a longer period of time the dog tended to generalize the word to objects with the same texture. These results show that the dog tested did not display human-like word comprehension, but word generalization and word reference development of a qualitatively different nature compared to humans. We conclude that a shape bias for word generalization in humans is due to the distinct evolutionary history of the human sensory system for object identification and that more research is necessary to confirm qualitative differences in word generalization between humans and dogs.     

The role of observers' gaze behaviour when watching object manipulation tasks: predicting and evaluating the consequences of action

When watching an actor manipulate objects, observers, like the actor, naturally direct their gaze to each object as the hand approaches and typically maintain gaze on the object until the hand departs. Here, we probed the function of observers'' eye movements, focusing on two possibilities: (i) that observers'' gaze behaviour arises from processes involved in the prediction of the target object of the actor''s reaching movement and (ii) that this gaze behaviour supports the evaluation of mechanical events that arise from interactions between the actor''s hand and objects. Observers watched an actor reach for and lift one of two presented objects. The observers'' task was either to predict the target object or judge its weight. Proactive gaze behaviour, similar to that seen in self-guided action–observation, was seen in the weight judgement task, which requires evaluating mechanical events associated with lifting, but not in the target prediction task. We submit that an important function of gaze behaviour in self-guided action observation is the evaluation of mechanical events associated with interactions between the hand and object. By comparing predicted and actual mechanical events, observers, like actors, can gain knowledge about the world, including information about objects they may subsequently act upon.     

Binocular information in the control of prehensile movements in multiple-object scenes

Recent evidence suggests that the visual control of prehension may be less dependent on binocular information than has previously been thought. Studies investigating this question, however, have generally only examined reaches to single objects presented in isolation, even though natural prehensile movements are typically directed at objects in cluttered scenes which contain many objects. The present study was designed, therefore, to assess the contribution of binocular information to the control of prehensile movements in multiple-object scenes. Subjects reached for and grasped objects presented either in isolation or in the presence of one, two or four additional 'flanking' objects, under binocular and monocular viewing conditions. So that the role of binocular information could be clearly determined, subjects made reaches both in the absence of a visible scene around the target objects (self-illuminated objects presented in the dark) and under normal ambient lighting conditions. Analysis of kinematic parameters indicated that the removal of binocular information did not significantly affect many of the major indices of the transport component, including peak wrist velocity. However, peak grip apertures increased and subjects spent more time in the final slow phase of movement, prior to grasping the object, during monocularly guided reaches. The dissociation between effects of binocular versus monocular viewing on transport and grasp parameters was observed irrespective of the presence of flanking objects. These results therefore further question the view that binocular vision is pre-eminent in the control of natural prehensile movements.     

Modeling of Muscle Force at Varied Joint Angles of the Human Arm and Estimation of Gripping Force Using Surface EMG

This paper aims to determine the force required for holding the objects by human hand. A static analysis is performed on mathematical models to obtain holding force considering lower arm as class three lever and by varying the joint angles. Three mathematical models are discussed to quantify the force required to hold any object, for different weight of the object and the joint angles. A noninvasive experimentation using surface electromyogram was performed to determine the forces required by human hand for the same objects used in the mathematical modeling. Twenty-one male subjects participated in this test and were asked to hold different objects. EMG signals were recorded and converted into grip force in Newton. The EMG to Force conversion was accomplished by the equation derived from the Hills model. The experimentation revealed that subjects in the age group of 20-50 years generated more grip force as compared to those above the age of fifty years. The values of muscle force obtained from the experimentation are optimum values which depend upon the nature of the gripping habits subjects are used to. Whereas, in the case of mathematical models yielded maximum force required to sustain the weight placed on the hand considering it as a mechanical system. The study revealed an average gripping force of 85 Newton required to hold the objects weighing between 0.015 kg to 1.18 kg used in the experimentation. The mathematical model resulted in an average of 162 Newton muscle force to hold the object having similar weights.