A kinematic model of the human hand to evaluate its prehensile capabilities.

A kinematic model has been developed for simulation and prediction of the prehensile capabilities of the human hand. The kinematic skeleton of the hand is characterized by ideal joints and simple segments. Finger-joint angulation is characterized by yaw (abduction-adduction), pitch (flexion-extension) and roll (axial rotation) angles. The model is based on an algorithm that determines contact between two ellipsoids, which are used to approximate the geometry of the cutaneous surface of the hand segments. The model predicts the hand posture (joint angles) for power grasp of ellipsoidal objects by 'wrapping' the fingers around the object. Algorithms for two grip types are included: (1) a transverse volar grasp, which has the thumb abducted for added power; and (2) a diagonal volar grasp, which has the thumb adducted for an element of precision. Coefficients for estimating anthropometric parameters from hand length and breadth are incorporated in the model. Graphics procedures are included for visual display of the model. In an effort to validate the predictive capabilities of the model, joint angles were measured on six subjects grasping circular cylinders of various diameters and these measured joint angles were compared with angles predicted by the model. Sensitivity of the model to the various input parameters was also determined. On an average, the model predicted joint flexion angles that were 5.3% or 2.8 degrees +/- 12.2 degrees larger than the measured angles. Good agreement was found for the MCP and PIP joints, but results for DIP were more variable because of its dependence on the predictions for the proximal joints.     

Electromyography of lumbar erector spinae muscles--influence of posture, interelectrode distance, strength, and fatigue

The aims of the study were to obtain information (1) on surface electromyograms (SEMG) from the lumbar erector spinae muscles at different interelectrode distances and postures during short isometric contractions with constant force, (2) on the relationships between SEMG and extension force at different postures, and (3) on changes in SEMG during fatiguing isometric contractions at different postures and strengths. Six male subjects developed target forces in prone postures without gravity confounding the measurement of the extension torque. The angles between the constantly horizontal upper trunk and thighs were 90 degrees (P1), 135 degrees (P2), 170 degrees (P3), and 190 degrees (P4). Standard deviations of the distribution of SEMG amplitudes (RMS values), autoregressive (AR) time series models of the 15th order and spectral densities, including mean power frequency (MPF), were computed. Smaller interelectrode distances accompanied smaller RMS values and higher MPF. At a constant extension torque of about 110 Nm, RMS values and MPF increased from P1 to P4. Changes of interelectrode distance were of relatively minor importance, compared with the variation in the posture. With increasing torque, the increase in RMS values was steeper at P3 than at P2. The AR structure and MPF did not exhibit distinct effects of force. During sustained contractions at P2 and P3, only the highest force (mean = 140 Nm) at P3 caused a significant decrease of the MPF at the very beginning of the contraction. Endurance at P2 was greater than at P3. Higher forces and/or shorter muscles (P3) induced more pronounced and earlier relative decreases of the MPF and residual variance of AR models. Up to the "failure point", RMS values increased slightly, but without significant differences.     

Measurements of wrist and finger postures: a comparison of goniometric and motion capture techniques

A marker-based kinematic hand model to quantify finger postures was developed and compared to manual goniometric measurements. The model was implemented with data collected from static postures of five subjects. The metacarpal phalangeal (MCP) and proximal interphalangeal (PIP) joints were positioned in flexion of approximately 30, 60, and 90 degrees for 5 subjects. Wrist flexion/extension and ulnar/radial deviations were also examined. The model-based angles for the MCP and PIP joints were not statistically equivalent to the goniometric measurements, with differences of -1.8 degrees and +3.5 degrees, respectively. Differences between the two measurement methods for the MCP and PIP were found to be a function of the posture (i.e., 150, 120, or 90 degree blocks) used. Wrist measurements differed by -4.0 degrees for ulnar/radial deviation and +5.2 degrees for flexion/extension. Much of the difference between the model and goniometric measurements is believed due to inaccuracies in the goniometric measurements. The proposed model is useful for future investigations of finger-intensive activities by supplying accurate and unbiased measures of joint angles.     

Estimating in vivo passive forces of the index finger muscles: Exploring model parameters

We compared predicted passive finger joint torques from a biomechanical model that includes the exponential passive muscle force–length relationship documented in the literature with finger joint torques estimated from measures in ten adult volunteers. The estimated finger joint torques were calculated from measured right index fingertip force, joint postures, and anthropometry across 18 finger and wrist postures with the forearm muscles relaxed. The biomechanical model predicting passive finger joint torques included three extrinsic and three intrinsic finger muscles. The values for the predicted passive joint torques were much larger than the values calculated from the fingertip force and posture measures with an average RMS error of 7.6 N cm. Sensitivity analysis indicated that the predicted joint torques were most sensitive to passive force–length model parameters compared to anthropometric and postural parameters. Using Monte Carlo simulation, we determined a new set of values for the passive force–length model parameters that reduced the differences between the joint torques calculated from the two methods to an average RMS value of 0.5 N cm, a 94% average improvement of error from the torques predicted using the existing data. These new parameter values did vary across individuals; however, using an average set for the parameter values across subjects still reduced the average RMS difference to 0.8 N cm. These new parameters may improve dynamic modeling of the finger during sub-maximal force activities and are based on in vivo data rather than traditional in vitro data.     

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.     

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.     

The role of binocular information in the 'on-line' control of prehension

Binocular visual information may be involved in the selection of appropriate motor programs before a reach is executed or it may be involved during the movement-execution phase in order to monitor and guide the hand to the target object. Here we introduced binocular information after 0%, 25%, 50% or 75% of the movement-execution phase and determined its effects on the kinematic indices of prehensile movements made to objects of different sizes placed at different distances. Kinematic indices linked to the transport component, such as peak velocity and time-to-peak velocity, were unaffected by the presence of binocular cues whereas later occurring indices, such as peak grip aperture and time in the slow phase, were significantly affected. Although the magnitude of the peak grip was affected by the presence of binocular cues, the time at which it occurred did not change. This pattern of results suggest that the visuo-motor control of prehensile movements utilises both feedforward and feedback strategies and that binocular cues are particularly important for the fine manual adjustments typical of the latter.     

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.     

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.     

Noninvasive cardiac output measurement in orthostasis: pulse contour analysis compared with acetylene rebreathing.

We tested the reliability of noninvasive cardiac output (CO) measurement in different body positions by pulse contour analysis (CO(pc)) by using a transmission line model (K. H. Wesseling, B. De Wit, J. A. P. Weber, and N. T. Smith. Adv. Cardiol. Phys. 5, Suppl. II: 16-52, 1983). Acetylene rebreathing (CO(rebr)) was used as a reference method. Twelve subjects (age 21-34 yr) were studied: 1) six in whom CO(rebr) and CO(pc) were measured in the standing and 6 degrees head-down tilt (HDT) postures and 2) six in whom CO was measured in the 30 degrees HDT, supine, 30 degrees head up-tilt (HUT), and 70 degrees HUT postures on a tilt table. The CO(rebr)-to-CO(pc) ratio in (near) the supine position during rebreathing was used as the calibration factor for CO(pc) measurements. Calibrated CO(pc) (CO(cal sup)) consistently overestimated CO in the upright posture. The drop in CO with upright posture was underestimated by approximately 50%. CO(cal sup) and CO(rebr) values did not differ in the 30 degrees HDT position. Changes in the CO(rebr)-to-CO(pc) ratio are highly variable among subjects in response to a change in posture. Therefore, CO(pc) must be recalibrated for each subject in each posture.     

Evaluating protocols for normalizing forearm electromyograms during power grip

Many studies use a reference task of an isometric maximum voluntary power grip task in a mid-pronated forearm posture to normalize their forearm electromyographic (EMG) signal amplitude. Currently there are no recommended protocols to do this. In order to provide guidance on the topic, we examined the EMG amplitude of six forearm muscles (three flexors and three extensors) during twenty different maximal voluntary efforts that included various gripping postures, force and moment exertions and compared them to a frequently used normalization task of exerting a maximum grip force, termed the reference task. 16 participants (8 male and 8 female, aged 18–26) were recruited for this study. Overall, maximal muscle activity was produced during the resisted moment tasks. When contrasted with the reference task, the resisted moment tasks produced EMG activity that was up to 2.8 times higher (p < 0.05). Although there was no one task that produced greater EMG values than the reference task for all forearm muscles, the resisted flexor and extensor moment tasks produced similar, if not higher EMG activity than the reference task for the three flexors and three extensor muscles, respectively. This suggests that researchers wishing to normalize forearm EMG activity during power gripping prehensile tasks should use resisted flexor and extensor moment tasks to obtain better estimates of the forearm muscles’ maximum electrical activation magnitudes.     

Prediction precedes control in motor learning

Skilled motor behavior relies on the brain learning both to control the body and predict the consequences of this control. Prediction turns motor commands into expected sensory consequences, whereas control turns desired consequences into motor commands. To capture this symmetry, the neural processes underlying prediction and control are termed the forward and inverse internal models, respectively. Here, we investigate how these two fundamental processes are related during motor learning. We used an object manipulation task in which subjects learned to move a hand-held object with novel dynamic properties along a prescribed path. We independently and simultaneously measured subjects' ability to control their actions and to predict their consequences. We found different time courses for predictor and controller learning, with prediction being learned far more rapidly than control. In early stages of manipulating the object, subjects could predict the consequences of their actions, as measured by the grip force they used to grasp the object, but could not generate appropriate actions for control, as measured by their hand trajectory. As predicted by several recent theoretical models of sensorimotor control, our results indicate that people can learn to predict the consequences of their actions before they can learn to control their actions.     

The effect of torque direction and cylindrical handle diameter on the coupling between the hand and a cylindrical handle

Pheasant and O'Neill's torque model (1975) was modified to account for grip force distributions. The modified model suggests that skin friction produced by twisting an object in the direction of fingertips causes flexion of the distal phalanges and increases grip force and, thus, torque. Twelve subjects grasped a cylindrical object with diameters of 45.1, 57.8, and 83.2 mm in a power grip, and performed maximum torque exertions about the long axis of the handle in two directions: the direction the thumb points and the direction the fingertips point. Normal force on the fingertips increased with torque toward the fingertips, as predicted by the model. Consequently, torque toward the fingertips was 22% greater than torque toward the thumb. Measured torque and fingertip forces were compared with model predictions. Torque could be predicted well by the model. Measured fingertip force and thumb force were, on average, 27% less than the predicted values. Consistent with previous studies, grip force decreased as the handle diameter increased from 45.1 to 83.2 mm. This may be due not only to the muscle length-strength relationship, but also to major active force locations on the hand: grip force distributions suggest that a small handle allows fingertip force and thumb force to work together against the palm, resulting in a high reaction force on the palm, and, therefore, a high grip force. For a large handle, fingertip force and thumb force act against each other, resulting in little reaction force on the palm and, thus, a low grip force.     

The effects of a change in gravity on the dynamics of prehension

The objective of this study was to measure the forces applied on an object manipulated in different gravitational fields attained during parabolic flights. Eight subjects participated flights (ES) and four were inexperienced (NES). They had to move continuously an instrumented object up and down in three different gravitational conditions (1 g, 1.8 g, 0 g). In 1 g, the grip force precisely anticipated the fluctuations of load force which was maximum and minimum at the bottom and at the top of the arm trajectory respectively. When the gravity changed (0 g and 1.8 g), the grip-load force coupling persisted for all the subjects from the first parabola. While the ES immediately exerted a grip force appropriate to the gravity, the NES dramatically increased their grip when faced with hyper and microgravity for the first time. Then, they progressively released their grip until a continuous grip-load force relationship with regard to 1 g was established after the fifth parabola. We suggest that each new gravitational field is rapidly incorporated into an internal model within the CNS which can then be reused as required by the occasion.     

Mechanomyogram and electromyogram responses of upper limb during sustained isometric fatigue with varying shoulder and elbow postures

To investigate the behavior of mechanomyogram (MMG) and electromyogram (EMG) signals in the time and frequency domains during sustained isometric contraction, MMG and surface EMG were obtained simultaneously from four muscles: upper trapezius (TP), anterior deltoid (DL), biceps brachii (BB), and brachioradialis (BR) of 10 healthy male subjects. Experimental conditions consisted of 27 combinations of 9 postures [3 shoulder angles (SA): 0 degree, 30 degrees, 60 degrees and 3 elbow angles (EA): 120 degrees, 90 degrees, 60 degrees] and 3 contraction levels: 20%, 40%, and 60% of maximum voluntary contraction (MVC). Subjective evaluations of fatigue were also assessed using the Borg scale at intervals of 60, 30, and 10 sec at 20%, 40%, and 60% MVC tests, respectively. The mean power frequency (MPF) and root mean square (RMS) of both signals were calculated. The current study found clear and significant relationships among physiological and psychological parameters on the one hand and SA and EA on the other. EA's effect on MVC was found to be significant. SA had a highly significant effect on both endurance time and Borg scale. In all experimental conditions, significant correlations were found between the changes in MPF and RMS of EMG in BB with SA and EA (or muscle length). In all four muscles, MMG frequency content was two or three times lower than EMG frequency content. During sustained isometric contraction, the EMG signal showed the well-known shift to lower frequencies (a continuous decrease from onset to completion of the contraction). In contrast, the MMG spectra did not show any shift, although its form changed (generally remaining about constant). Throughout the contraction, increased RMS of EMG was found for all tests, whereas in the MMG signal, a significant progressive increase in RMS was observed only at 20% MVC in all four muscles. This supports the hypothesis that the RMS amplitude of the MMG signal produced during contraction is highly correlated with force production. Possible explanations for this behavioral difference between the MMG and EMG signals are discussed.     

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.     

Validation of a model for prediction of skin temperatures in footwear

A model for foot skin temperature prediction was evaluated on the basis of 2 experiments on subjects at various environmental temperatures (light seated manual work at -10.7 degrees C (Study 1), and a short walking period in combination with standing and sitting at +2.8 degrees C, -11.8 degrees C and -24.6 degrees C (Study 2), with boots of 3 insulation levels. Insulation of the footwear was measured on a thermal foot model. Predicted and measured data showed a relatively good correlation (r = 0.87) at the 2 colder conditions in Study 2. The environmental temperature of 2.8 degrees C was not low enough at the chosen activity for a considerable foot skin temperature drop. In Study 1 the predicted temperature stayed higher for the whole exposure period and the difference between the predicted and the measured foot skin temperatures grew proportionally with time, while subsequent warm-up curves at room temperature were almost parallel. In Study 1 the correlation was 0.95. However, the paired t-test showed usually significant differences between measured and predicted foot skin temperatures. The insulation values from thermal foot measurements can be used in the model calculations. Lotens' foot model is lacking activity as direct input parameter, however, the blood flow is used instead (effect through Tcore). The Lotens foot model can give reasonable foot skin temperature values if the model limitations are considered. Due to the lack of activity level input, it will be difficult to make any good estimation of foot skin temperature during intermittent exercise. The rate of the foot temperature recovery after cold exposure was somewhat overestimated in the model--the warm-up of the feet of the subjects started later and was slower in the beginning of the warm-up than in the prediction. It could be useful to develop the model further by taking into consideration various wetness and activity levels.     

Complex movements evoked by microstimulation of precentral cortex

Electrical microstimulation was used to study primary motor and premotor cortex in monkeys. Each stimulation train was 500 ms in duration, approximating the time scale of normal reaching and grasping movements and the time scale of the neuronal activity that normally accompanies movement. This stimulation on a behaviorally relevant time scale evoked coordinated, complex postures that involved many joints. For example, stimulation of one site caused the mouth to open and also caused the hand to shape into a grip posture and move to the mouth. Stimulation of this site always drove the joints toward this final posture, regardless of the direction of movement required to reach the posture. Stimulation of other cortical sites evoked different postures. Postures that involved the arm were arranged across cortex to form a map of hand positions around the body. This stimulation-evoked map encompassed both primary motor and the adjacent premotor cortex. We suggest that these regions fit together into a single map of the workspace around the body.     

Estimation of the effective static moment arms of the tendons in the index finger extensor mechanism

A novel technique to estimate the contribution of finger extensor tendons to joint moment generation was proposed. Effective static moment arms (ESMAs), which represent the net effects of the tendon force on joint moments in static finger postures, were estimated for the 4 degrees of freedom (DOFs) in the index finger. Specifically, the ESMAs for the five tendons contributing to the finger extensor apparatus were estimated by directly correlating the applied tendon force to the measured resultant joint moments in cadaveric hand specimens. Repeated measures analysis of variance revealed that the finger posture, specifically interphalangeal joint angles, had significant effects on the measured ESMA values in 7 out of 20 conditions (four DOFs for each of the five muscles). Extensor digitorum communis and extensor indicis proprius tendons were found to have greater MCP ESMA values when IP joints are flexed, whereas abduction ESMAs of all muscles except extensor digitorum profundus were mainly affected by MCP flexion. The ESMAs were generally smaller than the moment arms estimated in previous studies that employed kinematic measurement techniques. Tendon force distribution within the extensor hood and dissipation into adjacent structures are believed to contribute to the joint moment reductions, which result in smaller ESMA values.     

The modulation of corticospinal excitability during motor imagery of actions with objects

We investigated whether corticospinal excitability during motor imagery of actions (the power or the pincer grip) with objects was influenced by actually touching objects (tactile input) and by the congruency of posture with the imagined action (proprioceptive input). Corticospinal excitability was assessed by monitoring motor evoked potentials (MEPs) in the first dorsal interosseous following transcranial magnetic stimulation over the motor cortex. MEPs were recorded during imagery of the power grip of a larger-sized ball (7 cm) or the pincer grip of a smaller-sized ball (3 cm)--with or without passively holding the larger-sized ball with the holding posture or the smaller-sized ball with the pinching posture. During imagery of the power grip, MEPs amplitude was increased only while the actual posture was the same as the imagined action (the holding posture). On the other hand, during imagery of the pincer grip while touching the ball, MEPs amplitude was enhanced in both postures. To examine the pure effect of touching (tactile input), we recorded MEPs during imagery of the power and pincer grip while touching various areas of an open palm with a flat foam pad. The MEPs amplitude was not affected by the palmer touching. These findings suggest that corticospinal excitability during imagery with an object is modulated by actually touching an object through the combination of tactile and proprioceptive inputs.