Age-related changes in multifinger synergies in accurate moment of force production tasks.

The purpose of this investigation was to document and quantify age-related differences in the coordination of fingers during a task that required production of an accurate time profile of the total moment of force by the four fingers of a hand. We hypothesized that elderly subjects would show a decreased ability to stabilize a time profile of the total moment of force, leading to larger indexes of moment variability compared with young subjects. The subjects followed a trapezoidal template on a computer screen by producing a time profile of the total moment of force while pressing down on force sensors with the four fingers of the right (dominant) hand. To quantify synergies, we used the framework of the uncontrolled manifold hypothesis. The elderly subjects produced larger total force, larger variance of both total force and total moment of force, and larger involvement of fingers that produced moment of force against the required moment direction (antagonist moment). This was particularly prominent during supination efforts. Young subjects showed covariation of commands to fingers across trials that stabilized the moment of total force (moment-stabilizing synergy), while elderly subjects failed to do so. Both subject groups showed similar indexes of covariation of commands to the fingers that stabilized the time profile of the total force. The lack of moment-stabilizing synergies may be causally related to the documented impairment of hand function with age.     

Effects of age and gender on finger coordination in MVC and submaximal force-matching tasks.

The objective of the study is to examine the effects of age and gender on finger coordination. Twelve young (24 +/- 8 yr; 6 men and 6 women) and 12 elderly (75 +/- 5 yr; 6 men and 6 women) subjects performed single-finger maximal contraction [maximal voluntary contraction (MVC)], four-finger MVC, and four-finger ramp force production tasks by pressing on individual force transducers. A drop in the force of individual fingers during four-finger MVC tasks compared with single-finger MVC tasks (force deficit) was larger, whereas unintended force production by other fingers during single-finger MVC tasks (enslaving) was smaller, in elderly than in young subjects and in women than in men. Force deficit was smaller and enslaving was larger in subjects with higher peak force. During the ramp task, the difference between the variance of total force and the sum of variances of individual forces showed a logarithmic relation to the level of total force, across all subject groups. These findings suggest that indexes of finger coordination scale with force-generating capabilities across gender and age groups.     

Force and torque production in static multifinger prehension: biomechanics and control. I. Biomechanics

 We studied the coordinated action of fingers during static tasks involving exertion of force and torque on a handheld object. Subjects were asked to keep a handle with an attachment that allowed for independent change of the suspended load (0.5–2.0 kg) and external torque (0.375–1.5 N m) in a vertical position while applying minimal effort. Normal and shear forces were measured from the thumb; normal forces only were measured from the four fingers. Experimental results: (1) the thumb shear force increased during supination efforts and decreased during pronation efforts; (2) the total moment of the normal finger forces only counterbalanced approximately 50% of the external torque, hence shear forces accounted for approximately one-half of the total torque exerted on the object; (3) the total normal force increased with external torque, and the total force magnitude did not depend on the torque direction; (4) the forces of the `peripheral' (index and little) fingers depended mainly on the torque while the forces exerted by the `central' (middle and ring) fingers depended both on the load and torque; (5) there was a monotonic relationship between the mechanical advantage of a finger (i.e., its moment arm during torque production) and the force produced by that finger; and (6) antagonist finger moments acting opposite to the intended direction of the total moment were always observed – at low torques the antagonist moments were as high as 40–60% of the agonist moments. Modeling: A three-zone model of coordinated finger action is suggested. In the first zone of load/torque combinations, activation of antagonist fingers (i.e., fingers that generate antagonist moments) is necessary to prevent slipping. In the second zone, the activity of agonist fingers is sufficient for preventing slips. In the third zone, the performer has freedom to choose between either activating the antagonist fingers or redistributing activities amongst the agonist fingers. The findings of this study provide the foundation for neural network and optimization modeling described in the companion paper [Zatsiorsky et al. (2002) Biol Cybern DOI 10.1007/s00422-002-0320-7]. Received: 8 August 2001 / Accepted in revised form: 7 February 2002     

Force and torque production in static multifinger prehension: biomechanics and control. II. Control

 The coordination of digits during combined force/torque production tasks was further studied using the data presented in the companion paper [Zatsiorsky et al. Biol Cybern this issue, Part I]. Optimization was performed using as criteria the cubic norms of (a) finger forces, (b) finger forces normalized with respect to the maximal forces measured in single-finger tasks, (c) finger forces normalized with respect to the maximal forces measured in a four-finger task, and (d) finger forces normalized with respect to the maximal moments that can be generated by the fingers. All four criteria failed to predict antagonist finger moments when these moments were not imposed by the task mechanics. Reconstruction of neural commands: The vector of neural commands c was reconstructed from the equation c=W ⁻¹ F, where W is the finger interconnection weight matrix and F is the vector of finger forces. The neural commands ranged from zero (no voluntary force production) to one (maximal voluntary contraction). For fingers producing moments counteracting the external torque (`agonist' fingers), the intensity of the neural commands was well correlated with the relative finger forces normalized to the maximal forces in a four-finger task. When fingers produced moments in the direction of the external torque (`antagonist' fingers), the relative finger forces were always larger than those expected from the intensity of the corresponding neural commands. The individual finger forces were decomposed into forces due to `direct' commands and forces induced by enslaving effects. Optimization of the neural commands resulted in the best correspondence between actual and predicted finger forces. The antagonist moments are, at least in part, due to enslaving effects: strong commands to agonist fingers also activated antagonist fingers. Received: 8 August 2001 / Accepted in revised form: 7 February 2002     

The accuracy of perception of a pinch grip force in older adults

The fact that humans can execute accurate movements and generate precise muscle forces is very important for hand function. Target-tracking tasks or target-matching tasks are often executed under combined visual and somatosensory feedback. When visual feedback is removed, subjects have to depend on their perception of force. The objective of the present study was to estimate the effects of aging on the perception of a pinch force produced by the thumb and index finger. In a first set of trials, young (n = 12, age = 25.3 +/- 2.4 years) and elderly (n = 12, age = 71.5 +/- 3.3 years) healthy individuals were asked to reproduce pinch forces which were equivalent to 5%, 20%, and 40% of their maximal pinch force (MPF). Prior to the execution of these trials, the subjects were familiarized with the force levels by matching targets displayed on a screen. They were then asked to reproduce each of these forces without any visual or verbal feedback. The results showed a larger error in the reproduced force for the elderly subjects when compared with the young adults. However, this larger error was mainly due to an initial overshoot in the force to be reproduced, followed by a gradual decrease towards the appropriate force. This transient overshoot was rarely seen in the performance of the younger subjects. In a second set of trials, the same subjects were asked to produce a pinch force of 5%, 20%, and 40% of MPF with 1 hand using visual feedback. They were also instructed to simultaneously apply a comparable pinch force with the other hand (without any feedback). For both young and older adults, the pinch forces produced by the 2 hands were the same. In addition, in both blocks of trials, hand dominance had no effects on the performance for all subjects. These results suggest that normal aging affects the production of force based on sensorimotor memory rather more than it affects comparative outputs from central descending commands.     

Anticipatory synergy adjustments in preparation to self-triggered perturbations in elderly individuals

We tested the ability of healthy elderly persons to use anticipatory synergy adjustments (ASAs) prior to a self-triggered perturbation of one of the fingers during a multifinger force production task. An index of a force-stabilizing synergy was computed reflecting covariation of commands to fingers. The subjects produced constant force by pressing with the four fingers of the dominant hand on force sensors against constant upwardly directed forces. The middle finger could be unloaded either by the subject pressing the trigger or unexpectedly by the experimenter. In the former condition, the synergy index showed a drop (interpreted as ASA) prior to the time of unloading. This drop started later and was smaller in magnitude as compared with ASAs reported in an earlier study of younger subjects. At the new steady state, a new sharing pattern of the force was reached. We conclude that aging is associated with a preserved ability to explore the flexibility of the mechanically redundant multifinger system but a decreased ability to use feedforward adjustments to self-triggered perturbations. These changes may contribute to the documented drop in manual dexterity with age.     

Tactile feedback plays a critical role in maximum finger force production

This study investigates the role of cutaneous feedback on maximum voluntary force (MVF), finger force deficit (FD) and finger independence (FI). FD was calculated as the difference between the sum of maximal individual finger forces during single-finger pressing tasks and the maximal force produced by those fingers during an all-finger pressing task. FI was calculated as the average non-task finger forces normalized by the task-finger forces and subtracted from 100 percent. Twenty young healthy right-handed males participated in the study. Cutaneous feedback was removed by administering ring block digital anesthesia on the 2nd, 3rd, 4th and 5th digits of the right hands. Subjects were asked to press force sensors with maximal effort using individual digits as well as all four digits together, with and without cutaneous feedback. Results from the study showed a 25% decrease in MVF for the individual fingers as well as all the four fingers pressing together after the removal of cutaneous feedback. Additionally, more than 100% increase in FD after the removal of cutaneous feedback was observed in the middle and ring fingers. No changes in FI values were observed between the two conditions. Results of this study suggest that the central nervous system utilizes cutaneous feedback and the feedback mechanism plays a critical role in maximal voluntary force production by the hand digits.     

Age effects on force produced by intrinsic and extrinsic hand muscles and finger interaction during MVC tasks.

Finger-pressing forces are produced by activation of the intrinsic hand muscles, which are finger specific, and the extrinsic muscles that connect to multiple fingers. We tested a hypothesis of greater weakening of intrinsic hand muscles with age and quantified associated indexes of finger interaction such as enslaving (force production by unintended fingers) and force deficit (loss of finger force in multifinger tasks compared with single-finger tasks). Twelve young (23-35 yr old) and 12 elderly (70-95 yr old) men and women performed single-finger and four-finger maximal pressing tasks, in which force was applied at the proximal phalanges (PP, the intrinsic muscles are major focal force generators) and at the distal phalanges (DP, the extrinsic muscles are focal force generators). The decline in the peak force with age was greater at PP (30%) than at DP (19%). Larger indexes of finger interaction were observed at PP (enslaving = 17.2 +/- 9.4%, force deficit = 36.1 +/- 11.1%) than at DP (enslaving = 14.9 +/- 8.8%, force deficit = 27.7 +/- 10.8%) across ages and genders. We conclude that intrinsic hand muscles show disproportionate weakening with age. The greater indexes of finger interaction in PP tests with greater involvement of intrinsic hand muscles suggest that the finger interactions are predominantly of a central origin across ages and genders.     

Finger force vectors in multi-finger prehension

In a majority of studies on grasp, only normal forces were measured and only when a zero torque was exerted on a hand-held object. This study concerns finger force vectors during the torque production tasks. Subjects (n=8) stabilized a handle with an attachment that allowed for change of external torque from -1.5 to 1.5 Nm. Forces and moments exerted by the digit tips on the object were recorded. At the large (>-0.375 Nm) supination torques the index/middle and ring/little pairs of fingers generated oppositely directed tangential forces. The index and middle finger produced forces in a downward direction and therefore did not support the load. At a zero torque and pronation torques, the middle, ring and little fingers produced forces along nearly the same direction. The vector of the index finger force was always directed differently from the vectors of other finger forces, the angles ranged from 19 degrees 30' to 47 degrees 40'. The points of force application were systematically displaced with the torque, with the exception of the little finger. Tangential finger forces contributed substantially to the total torque exerted on the hand-held object.     

One Digit Interruption: The Altered Force Patterns during Functionally Cylindrical Grasping Tasks in Patients with Trigger Digits

Most trigger digit (TD) patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.     

Coordinated force production in multi-finger tasks: finger interaction and neural network modeling

During maximal voluntary contraction (MVC) with several fingers, the following three phenomena are observed: (1) the total force produced by all the involved fingers is shared among the fingers in a specific manner (sharing); (2) the force produced by a given finger in a multi-finger task is smaller than the force generated by this finger in a single-finger task (force deficit); (3) the fingers that are not required to produce any force by instruction are involuntary activated (enslaving). We studied involuntary force production by individual fingers (enslaving effects, EE) during tasks when (an)other finger(s) of the hand generated maximal voluntary pressing force in isometric conditions. The subjects (n = 10) were instructed to press as hard as possible on the force sensors with one, two, three and four fingers acting in parallel in all possible combinations. The EE were (A) large, the slave fingers always producing a force ranging from 10.9% to 54.7% of the maximal force produced by the finger in the single-finger task; (B) nearly symmetrical; (C) larger for the neighboring fingers; and (D) non-additive. In most cases, the EE from two or three fingers were smaller than the EE from at least one finger (this phenomenon was coined occlusion). The occlusion cannot be explained only by anatomical musculo-tendinous connections. Therefore, neural factors contribute substantially to the EE. A neural network model that accounts for all the three effects has been developed. The model consists of three layers: the input layer that models a central neural drive; the hidden layer modeling transformation of the central drive into an input signal to the muscles serving several fingers simultaneously (multi-digit muscles); and the output layer representing finger force output. The output of the hidden layer is set inversely proportional to the number of fingers involved. In addition, direct connections between the input and output layers represent signals to the hand muscles serving individual fingers (uni-digit muscles). The network was validated using three different training sets. Single digit muscles contributed from 25% to 50% of the total finger force. The master matrix and the enslaving matrix were computed; they characterize the ability of a given finger to enslave other fingers and its ability to be enslaved. Overall, the neural network modeling suggests that no direct correspondence exists between neural command to an individual finger and finger force. To produce a desired finger force, a command sent to an intended finger should be scaled in accordance with the commands sent to the other fingers. Received: 17 October 1997 / Accepted in revised form: 12 May 1998     

Aging, regularity and variability in maximum isometric moments

This study examined the variability and regularity of maximum isometric moment production of the plantar flexors in young and old subjects. It was hypothesized that in the development of maximum isometric moments there would be greater regularity in the moment profiles for older subjects compared with young subjects, due to the reduced number of motor units present in elderly muscle. Two groups of subjects produced three maximal isometric plantar flexions (young: n=11, mean age 23.8+/-2.8 years, mean mass 81.2+/-10.4 kg, mean height 1.78+/-0.05 m; elderly: n=13, mean age 74.0+/-3.3 years, mean mass 78.5+/-3.4 kg, mean height 1.73+/-0.05 m). The plateau of the moment-time curve was analyzed for each trial. A repeat measures analysis of variance showed the young subjects produced statistically greater peak plantar flexion moments than the elderly subjects, but similar coefficients of variation. Signal regularity was determined by computing the signal's approximate entropy, which demonstrated that the older group had greater regularity in their generation of moment profiles. The hypothesis was accepted, with a potential explanation for this increased regularity in old age being the reduced number of motor units to coordinate.     

Tangential finger forces use mechanical advantage during static grasping

When grasping and manipulating objects, the central controller utilizes the mechanical advantage of the normal forces of the fingers for torque production. Whether the same is valid for tangential forces is unknown. The main purpose of this study was to determine the patterns of finger tangential forces and the use of mechanical advantage as a control mechanism when dealing with objects of nonuniform finger positioning. A complementary goal was to explore the interaction of mechanical advantage (moment arm) and the role a finger has as a torque agonist/antagonist with respect to external torques (±0.4 N m). Five 6-df force/torque transducers measured finger forces while subjects held a prism handle (6 cm width × 9 cm height) with and without a single finger displaced 2 cm (handle width). The effect of increasing the tangential moment arm was significant (p < .01) for increasing tangential forces (in >70% of trials) and hence creating greater moments. Thus, the data provides evidence that the grasping system as a rule utilizes mechanical advantage for generating tangential forces. The increase in tangential force was independent of whether the finger was acting as a torque agonist or antagonist, revealing their effects to be additive.     

Prehension synergy: use of mechanical advantage during multifinger torque production on mechanically fixed and free objects

The aim of this study was to test the mechanical advantage (MA) hypothesis in multifinger torque production tasks in humans: fingers with longer moment arms produce greater force magnitudes during torque production tasks. There were eight experimental conditions: two prehension types determined by different mechanical constraints (i.e., fixed- and free-object prehension) with two torque directions (supination and pronation) and two torque magnitudes (0.24 and 0.48 N·m). The subjects were asked to produce prescribed torques during the fixed-object prehension or to maintain constant position of the free hand-held object against external torques. The index of MA was calculated for agonist and antagonist fingers, which produce torques in the same and opposite directions to the target torques, respectively. Within agonist fingers, the fingers with longer moment arms produced greater grasping forces while within antagonist fingers, the fingers with shorter moment arms produced greater forces. The MA index was greater in the fixed-object condition as compared with the free-object condition. The MA index was greater in the pronation condition than in the supination condition. This study supports the idea that the CNS utilizes the MA of agonist fingers, but not of antagonist fingers, during torque production in both fixed- and free-object conditions.     

Quantifying deficits in the 3D force capabilities of a digit caused by selective paralysis: application to the thumb with simulated low ulnar nerve palsy

We present the development of a vision-feedback method to characterize how selective paralysis distorts the three-dimensional (3D) volume representing digit-tip force production capability and its application to healthy individuals producing thumb-tip force with and without simulated low ulnar nerve palsy (LUNP). Subjects produced maximal static voluntary force spanning the transverse, sagittal and frontal planes of the thumb (16, 15 and 10 subjects, respectively). Subjects produced thumb-tip force tasks in guided and self-selected directions. The envelope (convex hull) of extreme forces in each plane approximated that cross-section of the 3D volume of force capability. Some subjects repeated the tasks with a temporary ulnar nerve block applied at the wrist to simulate complete acute LUNP. Three geometric properties of the force convex hull characterized each cross-section's shape: the ratios of its principal moments of inertia (RPMIs), the orientation of its principal axis (OPA), and its centroid location. Our results show that force production in the thumb's sagittal plane may be a reproducible and objective test to grade motor impairment in LUNP: paired t-tests of the larger RPMI in this plane best distinguished the nerve-blocked cases from the control cases in the guided task (p = 0.012), and Discriminant Analysis of the centroid location for the self-selected task in this plane correctly classified 94.7% of subjects into the control and ulnar nerve-blocked groups. We show that our method measures and detects changes in a digit's force production capabilities. Towards a clinical test of motor impairment in LUNP, this biomechanical study dictates which 3D thumb-tip forces to measure (those in the sagittal plane) and how to measure them (using the self-selected task).     

The demands of stair descent relative to maximum capacities in elderly and young adults.

In this study, we aimed to establish the joint moment and joint range of motion requirements of stair descent and the demands relative to maximal capacities in elderly and young adults. Participants descended a custom-built standard dimension four-step staircase, at their self-selected speed in a step-over manner. Kinetic data were acquired from force platforms embedded into each of the steps and into the floor at the base of the stairs. A motion analysis system was used to acquire kinematic data and joint moments were calculated using the kinematic and kinetic data. Maximum capacities (joint moment and joint range of motion) were assessed using a dynamometer. During stair descent the elderly generated lower absolute ankle joint moments than the young, which enabled them to operate at a similar relative proportion of their maximal capacity compared to young adults (75%). The knee joint moments during stair descent were similar between groups, but the elderly operated at a higher proportion of their maximal capacity (elderly: 42%; young: 30%). Ankle plantarflexion-dorsiflexion angle changes were similar between groups, which meant that the elderly operated at a higher proportion of their maximal assisted dorsiflexion angle. These results indicate that the elderly redistribute the joint moments in order to maintain the task demands within 'safe' limits.     

Aging, visual information, and adaptation to task asymmetry in bimanual force coordination

This study investigated the coordination and control strategies that the elderly adopt during a redundant finger force coordination task and how the amount of visual information regulates the coordination patterns. Three age groups (20-24, 65-69, and 75-79 yr) performed a bimanual asymmetric force task. Task asymmetry was manipulated via imposing different coefficients on the finger forces such that the weighted sum of the two index finger forces equaled the total force. The amount of visual information was manipulated by changing the visual information gain of the total force output. Two hypotheses were tested: the reduced adaptability hypothesis predicts that the elderly show less degree of force asymmetry between hands compared with young adults in the asymmetric coefficient conditions, whereas the compensatory hypothesis predicts that the elderly exhibit more asymmetric force coordination patterns with asymmetric coefficients. Under the compensatory hypothesis, two contrasting directions of force sharing strategies (i.e., more efficient coordination strategy and minimum variance strategy) are expected. A deteriorated task performance (high performance error and force variability) was found in the two elderly groups, but enhanced visual information improved the task performance in all age groups. With low visual information gain, the elderly showed reduced adaptability (i.e., less asymmetric forces between hands) to the unequal weighting coefficients, which supported the reduced adaptability hypothesis; however, the elderly revealed the same degree of adaptation as the young group under high visual gain. The findings are consistent with the notion that the age-related reorganization of force coordination and control patterns is mediated by visual information and, more generally, the interactive influence of multiple categories of constraints.     

Coordination of contact forces during multifinger static prehension

This study investigated the effects of modifying contact finger forces in one direction-normal or tangential-on the entire set of the contact forces, while statically holding an object. Subjects grasped a handle instrumented with finger force-moment sensors, maintained it at rest in the air, and then slowly: (1) increased the grasping force, (2) tried to spread fingers apart, and (3) tried to squeeze fingers together. Analysis was mostly performed at the virtual finger (VF) level (the VF is an imaginable finger that generates the same force and moment as the four fingers combined). For all three tasks there were statistically significant changes in the VF normal and tangential forces. For finger spreading/squeezing the tangential force neutral point was located between the index and middle fingers. We conclude that the internal forces are regulated as a whole, including adjustments in both normal and tangential force, instead of only a subset of forces (normal or tangential). The effects of such factors as EFFORT and TORQUE were additive; their interaction was not statistically significant, thus supporting the principle of superposition in human prehension.     

Matrix analyses of interaction among fingers in static force production tasks

The fingers on a hand show interactions in force production tasks. The interfinger connection matrices (IFMs) quantify these interactions (Li et al. 2002; Zatsiorsky et al. 2002b; Danion et al. 2003). The goal of the present study was to explore the differences in the IFMs of individual subjects and, in particular, to establish a procedure that may be used in the future for diagnostic purposes. Subjects (n=20) pressed downward maximally with ten different combinations of the four fingers, index (I), middle (M), ring (R), and little (L): I, M, R, L, IM, MR, RL, IMR, MRL, and IMRL. Voluntary activation of a subset of the four fingers was accompanied by an involuntary force production by fingers that were not intentionally activated (enslaving). Interfinger connection matrices were computed for each subject by the artificial neural network. The similarities/dissimilarities (proximities) between the individual matrices were determined. This procedure was performed twice: (a) for nonnormalized IFMs whose elements represented the amount of force (in newtons) exerted by a finger i in response to a unit command to a finger j; and (b) for normalized IFMs, after dividing the elements of each IFM by the total force produced by the four fingers acting together (the elements of the matrix are in percents). The 20×20 matrix of the proximities was subjected to multidimensional scaling (MDS) to reduce the number of dimensions and identify the major ones. To interpret the meaning of the computed dimensions, they were regressed on a set of finger force parameters described in the text. For the nonnormalized IFMs an interpretable dimension was the strength of the subjects. For the normalized IFMs two dimensions were interpreted: (a) the location of the point of resultant force application along the mediolateral axis that is defined by the pattern of force sharing among the fingers and (b) the total contribution of the enslaved forces into the total finger force. We speculate that the similarity of typical everyday tasks across the population promotes the similarity of the IMFs reflecting optimal hand functioning over these tasks. AcknowledgementsThis study was partly supported by NIH grants NS-35032, AR-048563 and AG-18751. The support from the Whittaker Foundation to Dr. Z.M. Li is also acknowledged.     

Understanding finger coordination through analysis of the structure of force variability

 Most common motor acts involve highly redundant effector systems. Understanding how such systems are controlled by the nervous system is a long-standing scientific challenge. Most proposals for solving this problem are based on the assumption that a particular solution, which optimizes additional constraints, is selected by the nervous system out of the many possible solutions. This study attempts to address this question in the context of coordinating individual finger forces to produce a controlled total force oscillation between 5% and 35% of each subject's maximum force of voluntary contraction, under two different combinations of four fingers. The structure of variability of individual finger forces was evaluated with respect to hypotheses that, at each instance in time, subjects attempt to: (1) stabilize the value of total force and (2) stabilize the total moment created by the fingers about the long axis passing through the forearm and midline of the hand. The results provide evidence that a range of goal-equivalent finger force combinations is generated to stabilize the values of total force and the total moment. The control of total force was specified explicitly by the task. However, it was stabilized only near the time of peak force. In contrast, the total moment was stabilized throughout most of the force cycle. The results lead to the suggestion that successful task performance is achieved, not by selecting a single optimal solution, but by discovering an appropriate control law that selectively stabilizes certain combinations of degrees of freedom relevant to the task while releasing from control other combinations. Received: 2 February 2001 / Accepted in revised form: 21 June 2001