Rate effects on timing, key velocity, and finger kinematics in piano performance

We examined the effect of rate on finger kinematics in goal-directed actions of pianists. In addition, we evaluated whether movement kinematics can be treated as an indicator of personal identity. Pianists' finger movements were recorded with a motion capture system while they performed melodies from memory at different rates. Pianists' peak finger heights above the keys preceding keystrokes increased as tempo increased, and were attained about one tone before keypress. These rate effects were not simply due to a strategy to increase key velocity (associated with tone intensity) of the corresponding keystroke. Greater finger heights may compensate via greater tactile feedback for a speed-accuracy tradeoff that underlies the tendency toward larger temporal variability at faster tempi. This would allow pianists to maintain high temporal accuracy when playing at fast rates. In addition, finger velocity and accelerations as pianists' fingers approached keys were sufficiently unique to allow pianists' identification with a neural-network classifier. Classification success was higher in pianists with more extensive musical training. Pianists' movement "signatures" may reflect unique goal-directed movement kinematic patterns, leading to individualistic sound.     

Keystroke dynamics and timing: accuracy, precision and difference between hands in pianist's performance

A commercially available acoustic grand piano, originally provided with keystroke speed sensors, is proposed as a standard instrument to quantitatively assess the technical side of pianist's performance, after the mechanical characteristics of the keyboard have been measured. We found a positional dependence of the relationship between the applied force and the resulting downstroke speed (i.e. treble keys descend fastest) due to the different hammer/hammer shaft mass to be accelerated. When this effect was removed by a custom software, the ability of 14 pianists was analysed in terms of variability in stroke intervals and keystroke speeds. C-major scales played by separate hands at different imposed tempos and at 5 subjectively chosen graded force levels were analysed to get insights into the achieved neuromuscular control. Accuracy and precision of time intervals and descent velocity of keystrokes were obtained by processing the generated MIDI files. The results quantitatively show: the difference between hands, the trade off between force range and tempo, and between time interval precision and tempo, the lower precision of descent speed associated to ‘soft’ playing, etc. Those results reflect well-established physiological and motor control characteristics of our movement system. Apart from revealing fundamental aspects of pianism, the proposed method could be used as a standard tool also for ergonomic (e.g. the mechanical work and power of playing), didactic and rehabilitation monitoring of pianists.     

Finger joint coordination during tapping

We investigated finger joint coordination during tapping by characterizing joint kinematics and torques in terms of muscle activation patterns and energy profiles. Six subjects tapped with their index finger on a computer keyswitch as if they were typing on the middle row of a keyboard. Fingertip force, keyswitch position, kinematics of the metacarpophalangeal (MCP) and the proximal and distal interphalangeal (IP) joints, and intramuscular electromyography of intrinsic and extrinsic finger muscles were measured simultaneously. Finger joint torques were calculated based on a closed-form Newton–Euler inverse dynamic model of the finger. During the keystroke, the MCP joint flexed and the IP joints extended before and throughout the loading phase of the contact period, creating a closing reciprocal motion of the finger joints. As the finger lifted, the MCP joint extended and the interphalangeal (IP) joints flexed, creating an opening reciprocal motion. Intrinsic finger muscle and extrinsic flexor activities both began after the initiation of the downward finger movement. The intrinsic finger muscle activity preceded both the IP joint extension and the onset of extrinsic muscle activity. Only extrinsic extensor activity was present as the finger was lifted. While both potential energy and kinetic energy are present and large enough to overcome the work necessary to press the keyswitch, the motor control strategies utilize the muscle forces and joint torques to ensure a successful keystroke.     

Grip pattern and finger coordination differences between pianists and non-pianists

The aim of this study was to assess differences of grip pattern and finger coordination in pianists and non-pianists, using hand tasks that were unrelated to pianistic practice. Eleven pianists with more than 10 years of intensive practice were compared to 14 non-pianists. Both groups performed four tasks with their right hand: (1) gross grip at fast velocity; (2) gross grip at slow velocity; (3) hook grip at fast velocity; and (4) hook grip at slow velocity. The three-dimensional coordinates were reconstructed using a kinematic analysis system, and the flexion and extension angles of the metacarpophalangeal joints were calculated. The phase diagrams were qualitatively and quantitatively appraised in order to identify differences between the groups. Principal component analysis was used to assess differences between pianists and non-pianists in terms of the reproducibility and regularity of palmar grip cycles. Coefficients of correlation between the joint angles were used to analyze finger coordination during the tasks. The pianists showed better reproducibility and regularity in the palmar grip pattern, as well as finger movements that were more coordinated when performing different hand tasks.     

Finger joint force minimization in pianists using optimization techniques

A numerical optimization procedure was used to determine finger positions that minimize and maximize finger tendon and joint force objective functions during piano play. A biomechanical finger model for sagittal plane motion, based on finger anatomy, was used to investigate finger tendon tensions and joint reaction forces for finger positions used in playing the piano. For commonly used piano key strike positions, flexor and intrinsic muscle tendon tensions ranged from 0.7 to 3.2 times the fingertip key strike force, while resultant inter-joint compressive forces ranged from 2 to 7 times the magnitude of the fingertip force. In general, use of a curved finger position, with a large metacarpophalangeal joint flexion angle and a small proximal interphalangeal joint flexion angle, reduces flexor tendon tension and resultant finger joint force.     

The contribution of the wrist, elbow and shoulder joints to single-finger tapping

We aimed to determine the role of the wrist, elbow and shoulder joints to single-finger tapping. Six human subjects tapped with their index finger at a rate of 3 taps/s on a keyswitch across five conditions, one freestyle (FS) and four instructed tapping strategies. The four instructed conditions were to tap on a keyswitch using the finger joint only (FO), the wrist joint only (WO), the elbow joint only (EO), and the shoulder joint only (SO). A single-axis force plate measured the fingertip force. An infra-red active-marker three-dimensional motion analysis system measured the movement of the fingertip, hand, forearm, upper arm and trunk. Inverse dynamics estimated joint torques for the metacarpal-phalangeal (MCP), wrist, elbow, and shoulder joints. For FS tapping 27%, 56%, and 18% of the vertical fingertip movement were a result of flexion of the MCP joint and wrist joint and extension of the elbow joint, respectively. During the FS movements the net joint powers between the MCP, wrist and elbow were positively correlated (correlation coefficients between 0.46 and 0.76) suggesting synergistic efforts. For the instructed tapping strategies (FO, WO, EO, and SO), correlations decreased to values below 0.35 suggesting relatively independent control of the different joints. For FS tapping, the kinematic and kinetic data indicate that the wrist and elbow contribute significantly, working in synergy with the finger joints to create the fingertip tapping task.     

Observing Expertise-Related Actions Leads to Perfect Time Flow Estimations

The estimation of the time of exposure of a picture portraying an action increases as a function of the amount of movement implied in the action represented. This effect suggests that the perceiver creates an internal embodiment of the action observed as if internally simulating the entire movement sequence. Little is known however about the timing accuracy of these internal action simulations, specifically whether they are affected by the level of familiarity and experience that the observer has of the action. In this study we asked professional pianists to reproduce different durations of exposure (shorter or longer than one second) of visual displays both specific (a hand in piano-playing action) and non-specific to their domain of expertise (a hand in finger-thumb opposition and scrambled-pixels) and compared their performance with non-pianists. Pianists outperformed non-pianists independently of the time of exposure of the stimuli; remarkably the group difference was particularly magnified by the pianists’ enhanced accuracy and stability only when observing the hand in the act of playing the piano. These results for the first time provide evidence that through musical training, pianists create a selective and self-determined dynamic internal representation of an observed movement that allows them to estimate precisely its temporal duration.     

The effects of precision demands during a low intensity pinching task on muscle activation and load sharing of the fingers.

High precision demands in manual tasks can be expected to cause more selective use of a part of the muscular synergy involved. To test this expectation, load sharing of the index finger and middle finger was investigated during a pinching task. Myoelectric activation of lower arm and neck-shoulder muscles was measured to see if overall level of effort was affected by precision demands. Ten healthy female subjects performed pinching tasks with three levels of force and three levels of precision demands. The force level did not significantly affect the relative contribution of the index and middle finger to the force. Higher precision demands, however, led to higher contribution of the index finger to the pinch force. Consequently, a more selective load of the forearm and hand occurs during tasks with high precision demands. The variability of the force contribution of the fingers increased during the task. No effects of precision demand on the activation of forearm and neck-shoulder muscles were found. Force level did affect the EMG parameters of several muscles. The effects were most apparent in the muscles responsible for the pinch force, the forearm muscles. Activation of these muscles was higher at higher force levels. In the trapezius muscle at the dominant side EMG amplitudes were lower at the high pinch force compared to the low force and median force conditions.     

Measuring 3D Hand and Finger Kinematics—A Comparison between Inertial Sensing and an Opto-Electronic Marker System

Objective analysis of hand and finger kinematics is important to increase understanding of hand function and to quantify motor symptoms for clinical diagnosis. The aim of this paper is to compare a new 3D measurement system containing multiple miniature inertial sensors (PowerGlove) with an opto-electronic marker system during specific finger tasks in three healthy subjects. Various finger movements tasks were performed: flexion, fast flexion, tapping, hand open/closing, ab/adduction and circular pointing. 3D joint angles of the index finger joints and position of the thumb and index were compared between systems. Median root mean square differences of the main joint angles of interest ranged between 3.3 and 8.4deg. Largest differences were found in fast and circular pointing tasks, mainly in range of motion. Smallest differences for all 3D joint angles were observed in the flexion tasks. For fast finger tapping, the thumb/index amplitude showed a median difference of 15.8mm. Differences could be explained by skin movement artifacts caused by relative marker movements of the marker system, particularly during fast tasks; large movement accelerations and angular velocities which exceeded the range of the inertial sensors; and by differences in segment calibrations between systems. The PowerGlove is a system that can be of value to measure 3D hand and finger kinematics and positions in an ambulatory setting. The reported differences need to be taken into account when applying the system in studies understanding the hand function and quantifying hand motor symptoms in clinical practice.     

A biomechanical analysis of finger joint forces and stresses developed during common daily activities

The problem of modelling stresses incurred at the finger joints is critical to the design of durable joint replacements in the hand. The goal of this study was to characterise the forces and stresses at the finger and thumb joints occurring during activities such as typing at a keyboard, playing piano, gripping a pen, carrying a weight and opening a jar. The metacarpal and proximal phalanx were modelled using a COMSOL-based finite element analysis. Analysis of these activities indicates that joint forces in excess of 100 N may be common at the metacarpophalangeal joint (MCP) due to carrying objects such as groceries or while opening jars. The model predicted that stresses in excess of 2 MPa, similar to stresses at the hip, occur at the MCP with the properties of cancellous bone playing a significant role in the magnitude and distribution of stress.     

A biomechanical analysis of finger joint forces and stresses developed during common daily activities

The problem of modelling stresses incurred at the finger joints is critical to the design of durable joint replacements in the hand. The goal of this study was to characterise the forces and stresses at the finger and thumb joints occurring during activities such as typing at a keyboard, playing piano, gripping a pen, carrying a weight and opening a jar. The metacarpal and proximal phalanx were modelled using a COMSOL-based finite element analysis. Analysis of these activities indicates that joint forces in excess of 100 N may be common at the metacarpophalangeal joint (MCP) due to carrying objects such as groceries or while opening jars. The model predicted that stresses in excess of 2 MPa, similar to stresses at the hip, occur at the MCP with the properties of cancellous bone playing a significant role in the magnitude and distribution of stress.     

Incorporating the length-dependent passive-force generating muscle properties of the extrinsic finger muscles into a wrist and finger biomechanical musculoskeletal model

Dynamic movement trajectories of low mass systems have been shown to be predominantly influenced by passive viscoelastic joint forces and torques compared to momentum and inertia. The hand is comprised of 27 small mass segments. Because of the influence of the extrinsic finger muscles, the passive torques about each finger joint become a complex function dependent on the posture of multiple joints of the distal upper limb. However, biomechanical models implemented for the dynamic simulation of hand movements generally don’t extend proximally to include the wrist and distal upper limb. Thus, they cannot accurately represent these complex passive torques. The purpose of this short communication is to both describe a method to incorporate the length-dependent passive properties of the extrinsic index finger muscles into a biomechanical model of the upper limb and to demonstrate their influence on combined movement of the wrist and fingers. Leveraging a unique set of experimental data, that describes the net passive torque contributed by the extrinsic finger muscles about the metacarpophalangeal joint of the index finger as a function of both metacarpophalangeal and wrist postures, we simulated the length-dependent passive properties of the extrinsic finger muscles. Dynamic forward simulations demonstrate that a model including these properties passively exhibits coordinated movement between the wrist and finger joints, mimicking tenodesis, a behavior that is absent when the length-dependent properties are removed. This work emphasizes the importance of incorporating the length-dependent properties of the extrinsic finger muscles into biomechanical models to study healthy and impaired hand movements.     

Somatosensory activity relevant for motor output. A summary of presentations and discussion

Several aspects of the function of receptors which contribute to somatic sensations are reviewed. First, there is evidence for a role of large-diameter cutaneous afferents in the reflex regulation of precision movements by the hand. Second, large-diameter muscle afferents from the intrinsic muscles of the hand, probably from primary muscle spindle afferents, can evoke specific sensations of finger movement. Third, the variable relationship between discharges in human C fibers from the hand and the specific sensation of pain is investigated. Activity in large-diameter cutaneous afferents can probably modify this sensation. Finally, the properties of small-diameter afferent fibers innervating joints are shown to be consistent with a role in the reflex regulation of joint integrity.     

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.     

Kinematic performance of a six degree-of-freedom hand model (6DHand) for use in occupational biomechanics

Upper extremity musculoskeletal disorders represent an important health issue across all industry sectors; as such, the need exists to develop models of the hand that provide comprehensive biomechanics during occupational tasks. Previous optical motion capture studies used a single marker on the dorsal aspect of finger joints, allowing calculation of one and two degree-of-freedom (DOF) joint angles; additional algorithms were needed to define joint centers and the palmar surface of fingers. We developed a 6DOF model (6DHand) to obtain unconstrained kinematics of finger segments, modeled as frusta of right circular cones that approximate the palmar surface. To evaluate kinematic performance, twenty subjects gripped a cylindrical handle as a surrogate for a powered hand tool. We hypothesized that accessory motions (metacarpophalangeal pronation/supination; proximal and distal interphalangeal radial/ulnar deviation and pronation/supination; all joint translations) would be small (less than 5° rotations, less than 2mm translations) if segment anatomical reference frames were aligned correctly, and skin movement artifacts were negligible. For the gripping task, 93 of 112 accessory motions were small by our definition, suggesting this 6DOF approach appropriately models joints of the fingers. Metacarpophalangeal supination was larger than expected (approximately 10°), and may be adjusted through local reference frame optimization procedures previously developed for knee kinematics in gait analysis. Proximal translations at the metacarpophalangeal joints (approximately 10mm) were explained by skin movement across the metacarpals, but would not corrupt inverse dynamics calculated for the phalanges. We assessed performance in this study; a more rigorous validation would likely require medical imaging.     

The effect of changes in joint angle on the characteristics of physiological tremor

IntroductionPhysiological tremor, as a whole, can be influenced by changes in muscle activity. However, the origin of low-frequency physiological tremor oscillations has yet to be conclusively determined. It is possible that by experimentally manipulating muscular activity, a better determination of the origin of those low-frequency oscillations can be achieved. It was demonstrated that changes in joint angle modify characteristics of muscular activity. As such, we hypothesize that changes in wrist-joint angle will alter the characteristics of low-frequency physiological tremor oscillations.ObjectiveAssess the influence of changes in joint angle of the wrist on characteristics of physiological finger tremor.MethodsPhysiological finger tremor was recorded (n = 25) using a laser displacement system while the arm and hand were supported. The relative angle between the dorsum of the hand and the forearm was altered between conditions (135°, 180°, 225° and 270°), while the hand and the finger remained parallel to the ground. EMG of the extensors and flexors were also recorded.ResultsTremor amplitude was significantly altered by changes in wrist-joint angle. This was especially the case for lower frequency oscillations. In addition, electromyography properties of forearm muscles were also significantly modified by changes in wrist-joint angles.ConclusionsThis study demonstrates that changes in wrist-joint angle modify the characteristics of physiological finger tremor. This should be taken into account when interpreting tremor data as well as when developing tools to minimize tremor.     

Normal force distribution and posture of a hand pressing on a flat surface

Hand strength data are needed to understand and predict hand postures and finger loads while placing the hand on an object or surface. This study aims to analyze the effect of hand posture and surface orientation on hand force while pressing a flat surface. Twelve participants, 6 females and 6 males ages 19–25, performed three exertions (100%, 30% and 10% MVC- Maximum Voluntary Contraction) perpendicular to a plate in 4 angles (−45°, 0°, 45° and 90° with respect to the horizontal plane) at elbow height. Exertions involved pushing in two postures: (1) whole hand and (2) constrained to only using the fingertips. Inter-digit joint angles were recorded to map hand and finger motions and estimate joint moments for each condition. Participants exerted twice the force when pushing with whole hand vs. fingertips. 72–75% of the total force was exerted over the base of the palm, while only 11–13% with the thumb for exertions at 90°, 45° or 0° plate angles. Males maximum force for pushing at 0°, 45° and 90° plates averaged 49% higher than females for the whole hand and 62% for the fingertips (p < 0.01). There was no significant sex difference (p > 0.05) for the −45° plate. Thumb joint loads were generally higher than the other individual fingers (p < 0.05) in all % MVC and accounted for 12% of total force during whole hand exertions. On average, joint moments were 30% higher during fingertip conditions vs. whole hand. Thumb and finger joint moment magnitudes when pushing the plate at 100% MVC indicated that Metacarpophalangeal (MCP) joint moments were higher (p < 0.05) than Distal Interphalangeal joints (DIP) and Proximal Interphalangeal joints (PIP) under whole hand and fingertips conditions.     

Comparative analysis of diadochokinetic movements.

Tests of diadochokinesia are an inherent part of a neurological examination. Various quantifying methods have been proposed to increase the objectivity, sensitivity, and reliability of such examinations. The methods used and analyses performed, however, differ substantially between tasks. We used a three-dimensional, ultrasound-based recording device to continuously record joint angles during three diadochokinetic movements, avoiding any external constraints of the movements. Alternate pronation and supination of the forearm, tapping with the whole hand and with the index finger in isolation were analyzed in a sample of 63 healthy control subjects. The most sensitive measure for capturing effects of gender, sex, and active hand was frequency. The right hand was faster than the left in all tasks, tapping performance declined with increasing age, and male subjects were faster than females in forearm diadochokinesia. Other measures that characterize speed of movement such as maximum angular velocities and accelerations did not yield comparable sensitivity in detecting the same statistical effects. However, angular velocity achieved the highest test-retest reliability for forearm diadochokinesia, while frequency was reproduced in the tapping tasks. Additional measures characterizing symmetry of the angular velocity profiles and intraindividual variability were shown to be largely independent of movement speed. Examples in neurological patients showed that the data define a valuable standard against which pathological performance can be precisely evaluated. In addition, the different measures captured dissociable aspects of motor performance that may further help to characterize the deficit and adjust therapy.     

Dependence of elbow joint stiffness measurements on speed,angle, and muscle contraction level

Elbow joint stiffness is critical to positioning the hand. Abnormal elbow joint stiffness may affect a person's ability to participate in activities of daily living. In this work, elbow joint stiffness was measured in ten healthy young adults with a device adapted from one previously used to measure stiffness in other joints. Measurements of elbow stiffness involved applying a constant-velocity rotational movement to the elbow and measuring the resultant displacement, torque, and acceleration. Elbow stiffness was then computed using a previously-established model for joint stiffness. Measurements were made at two unique elbow joint angles, two speeds, and two forearm muscle contraction levels. The results indicate that the elbow joint stiffness is significantly affected by both rotational speed and forearm muscle contraction level.