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     

Balancing forces: architectural control of mechanotransduction

All cells exist within the context of a three-dimensional microenvironment in which they are exposed to mechanical and physical cues. These cues can be disrupted through perturbations to mechanotransduction, from the nanoscale-level to the tissue-level, which compromises tensional homeostasis to promote pathologies such as cardiovascular disease and cancer. The mechanisms of such perturbations suggest that a complex interplay exists between the extracellular microenvironment and cellular function. Furthermore, sustained disruptions in tensional homeostasis can be caused by alterations in the extracellular matrix, allowing it to serve as a mechanically based memory-storage device that can perpetuate a disease or restore normal tissue behaviour.     

Occupational biomechanics of the neck: a review and recommendations.

Musculoskeletal disorders of the neck are becoming a major concern in industry. Several studies reported the association of neck pain, discomfort, and symptoms with different occupations in industry. Thus, the main objective of this study is to review and evaluate biomechanical techniques used in analyzing the occupational factors leading to neck pain and disorders. Recommendations for future research are also discussed.     

Balancing acts: molecular control of mammalian iron metabolism

Iron is ubiquitous in the environment and in biology. The study of iron biology focuses on physiology and homeostasis-understanding how cells and organisms regulate their iron content, how diverse tissues orchestrate iron allocation, and how dysregulated iron homeostasis leads to common hematological, metabolic, and neurodegenerative diseases. This has provided novel insights into gene regulation and unveiled remarkable links to the immune system.     

Stepping from a narrow support.

The study addresses postural preparation to stepping. In particular, it tests a hypothesis that such preparation involves adjustments in the activity of ankle plantarflexors to produce shifts of the center of pressure. We investigated the initiation of a step from quiet stance when the subjects stood on boards with a decreased dimension of the support area in the anterior-posterior direction ("unstable boards"). Stepping from an unstable board was associated with decreased preparatory shifts of the center of pressure (COP) in the anterior-posterior direction from about 3 cm to 0.9 cm and further to 0.1cm when the support narrowed from comfortable standing to 3.3 cm and to nearly 0 cm. There was a smaller decrease in the COP shift in the medio-lateral direction. When the subjects stood on a board which rested on a very narrow ridge ("zero-support"), they showed an increase in the magnitude of changes in the horizontal force immediately prior to making a step. There was a general increase in the level of activation of leg and trunk muscles during stepping from unstable boards. The modulation of the activity of ankle plantarflexors increased during stepping from unstable boards. We conclude that, to initiate a step, COP shifts and changes in shear force can be modulated independently of each other in a constraint-specific manner. The results speak against the hypothesis that modulation of ankle plantarflexor activity during postural adjustments is directly related to the production of COP shifts.     

Dose-response met-RANTES treatment of experimental periodontitis: a narrow edge between the disease severity attenuation and infection control

Chemokines and chemokine receptors have been implicated in the selective migration of leukocyte subsets to periodontal tissues, which consequently influences the disease outcome. Among these chemoattractants, the chemokines CCL3, CCL4 and CCL5 and its receptors, CCR1 and CCR5, have been associated with increased disease severity in mice and humans. Therefore, in this study we investigated the modulation of experimental periodontitis outcome by the treatment with a specific antagonist of CCR1 and 5 receptors, called met-RANTES. C57Bl/6 mice was orally infected with Aggregatibacter actinomycetemcomitans and treated with 0.05, 0.1, 0.5, 1.5 and 5 mg doses of met-RANTES on alternate days, and evaluated by morphometric, cellular, enzymatic and molecular methods. At 0.5 mg up to 5 mg doses, a strong reduction in the alveolar bone loss and inflammatory cell migration were observed. Interestingly, 5 mg dose treatment resulted in the maximum inhibition of inflammatory cell migration, but resulted in a similar inhibition of bone loss when compared with the lower doses, and also resulted in increased bacterial load and CRP response. When 0.5 and 5 mg therapy regimens were compared it was observed that both therapeutic protocols were able to downregulate the levels of pro-inflammatory, Th1-type and osteoclastogenic cytokines, and CD3+ and F4/80+ cells migration to periodontal tissues, but the high dose modulates host response in a more pronounced and unspecific and excessive way, interfering also with the production of antimicrobial mediators such as MPO, iNOS and IgG, and with GR1+ and CD19+ cells migration. Our results demonstrate a thin line between beneficial immunoregulation and impaired host defense during experimental periodontitis, and the determination of the exact equilibrium point is mandatory for the improvement of immune-targeted therapy of periodontitis.     

Modeling the biomechanics of the mandible: a three-dimensional finite element study.

Three-dimensional finite element models of a partially edentulated human mandible were generated to calculate the mechanical response to simulated isometric biting and mastication loads. The level of mesh refinement was established via a convergence test and showed that a model with over 30,000 degrees of freedom was required to obtain analysis accuracy. The functional loading cases included muscle loading based on an algorithm that assigns muscle forces in accordance with muscle cross-sectional area, while maintaining static equilibrium. Results were found for isometric application of unilateral and bilateral bite and mastication loading, and two different sets of displacement boundary conditions were imposed at the condyles. The mechanical response is shown in terms of displacements, principal strains, and a new measure called the 'mechanical intensity scalar'. For each load case studied, there was substantial bending in the molar region of the corpus and high tensile strains in the anterior portion of the ramus.     

Changes in landing biomechanics during a fatiguing landing activity.

The objective of this study was to investigate the effects of LE fatigue on ground impact force, LE kinematics, and LE kinetics during landing. Ground reaction force (GRF), kinematic, and electromyogram (EMG) data were collected from 12 male subjects during a fatiguing landing activity (FLA). This activity allowed not only the biomechanical differences between unfatigued and fatigued landings to be determined, but also the time history of multiple biomechanical variables as fatigue progressed. EMG mean frequency analysis using data collected immediately before and after the FLA indicated that subjects experienced fatigue of the quadriceps muscles. Results indicated a decrease in ground impact force and an increase in maximum joint flexion during landing with fatigue. Joint impulse values were consistent with a distal to proximal redistribution of extensor moment production. Potential reasons for this redistribution are discussed. A trend reversal in hip and ankle impulse during the activity suggest a change in landing strategy as fatigue progressed. The data also suggest that the measured changes in landing biomechanics may have been influenced by other factors, in addition to fatigue, such as a neuromuscular protective mechanism to decrease impact force magnitude.     

Plant biomechanics: an overview and prospectus

We provide a brief overview of the articles appearing in this special issue and place them in the context of the long history of the study of plant biomechanics and what we judge to be the next major intellectual and/or technological challenges in this field.     

Jaw muscles and the skull in mammals: the biomechanics of mastication.

Among non-mammalian vertebrates, rigid skulls with tight sutural junctions are associated with high levels of cranial loading. The rigid skulls of mammals presumably act to resist the stresses of mastication. The pig, Sus scrofa, is a generalized ungulate with a diet rich in resistant foods. This report synthesizes previous work using strain gages bonded to the bones and sutures of the braincase, zygomatic arch, jaw joint, and mandible with new studies on the maxilla. Strains were recorded during unrestrained mastication and/or in anesthetized pigs during muscle stimulation. Bone strains were 100-1000 micro epsilon, except in the braincase, but sutural strains were higher, regardless of region. Strain regimes were specific to different regions, indicating that theoretical treatment of the skull as a unitary structure is probably incorrect. Muscle contraction, especially the masseter, caused strain patterns by four mechanisms: (1) direct loading of muscle attachment areas; (2) a compressive reaction force at the jaw joint; (3) bite force loading on the snout and mandible; and (4) movement causing new points of contact between mandible and cranium. Some expected patterns of loading were not seen. Most notably, strains did not differ for right and left chewing, perhaps because pigs have bilateral occlusion and masseter activity.     

Mobility impairment in the elderly: challenges for biomechanics research.

The problems of mobility impairment in the elderly constitute new and major challenges for biomechanics research. This paper outlines what some of the important problems are, discusses the relevance of biomechanics research to these problems, and reviews some of the current state of knowledge about factors related to the biomechanics of mobility impairments in the elderly. The population of old adults is growing rapidly and the incidence of mobility impairments in old adults is high. Mobility impairment biomechanics research is needed to make the assessments of impairments more precise, to design therapeutic programs that are more effective and to learn more about how mobility impairments can be prevented.     

Lower extremity biomechanics during a regular and counterbalanced squat

If the efficiency of human movement patterns could be improved using exercise, this could lead to more effective musculoskeletal disease-injury prevention and rehabilitation programs. It has been suggested that an efficient squat movement pattern emphasizes the use of the large hip extensors instead of the smaller knee extensors. The purpose of this study was to determine whether a counterbalanced squat (CBS) could produce a more hip-dominant and less knee-dominant squat movement pattern as compared with a regular squat (RS). There were 31 recreationally trained college-aged participants (15 male, 16 female) who performed 10 squats (5 CBS and 5 RS), while segment kinematics, ground reaction forces, and muscle (gluteus maximus [GM], quadriceps, hamstrings) electromyographic (EMG) activations were recorded. Peak sagittal plane net joint moments and joint ranges of motion at the hip, knee, and ankle joints along with peak and integrated EMG activation levels for all 3 muscles were compared using analysis of variance (squat type × sex). The results revealed that the CBS increased the hip joint moment and GM activation, while it decreased the knee joint moment and quadriceps activation as compared with the RS. Therefore, the CBS produces a more hip-dominant and less knee-dominant squat movement pattern and could be used in exercise programs aimed at producing more hip-dominant movement patterns.