Abstract
Modeling and understanding human grasp functionality are fundamental in prosthetics, robotics, medicine, and rehabilitation, since they contribute to exploring motor control mechanism, evaluating grasp function, and designing and controlling prosthetic hands or exoskeletons. However, there are still limitations in providing a comprehensive and quantitative understanding of hand grasp functionality. After simultaneously considering three significant and essential influence factors in daily grasping contained relative position, object shape, and size, this paper presents the tolerance grasping to provide a more comprehensive understanding of human grasp functionality. The results of joint angle distribution and variance explained by PCs supported that tolerance grasping can represent hand grasp functionality more comprehensively. Four synergies are found and account for 93% ± 1.5% of the overall variance. The ANOVA confirmed that there was no significant individual difference in the first four postural synergies. The common patterns of grasping behavior were found and characterized by the mean value of postural synergy across 10 subjects. The independence analysis demonstrates that the tolerance grasping results highly correlate with unstructured natural grasping and more accurately correspond to cortical representation size of finger movement. The potential for exploring the neuromuscular control mechanism of human grasping is discussed. The analysis of hand grasp characteristics that contained joint angle distribution, correlation, independence, and postural synergies, presented here, should be more representative to provide a more comprehensive understanding of hand grasp functionality.
Highlights
Tremendous grasp functionality is one of the critical characteristics of humans [1,2,3,4]
Muscle, and nerve damage often leads to impairment of hand movement, which will seriously affect the quality of life [10], such as stroke, Parkinson’s disease (PD), or physical injury
In an accompanying study [43], we demonstrate that the relative position between the human hand and object, as a general and essential influence factor in daily grasping, can
Summary
Tremendous grasp functionality is one of the critical characteristics of humans [1,2,3,4]. Muscle, and nerve damage often leads to impairment of hand movement, which will seriously affect the quality of life [10], such as stroke, Parkinson’s disease (PD), or physical injury. All of these critical particularities of the human hand have attracted investigators to study hand grasp functionality. Investigators expect to establish experimental paradigms that can effectively represent human grasp functionality in order to explore the neural mechanism of motor control. Roboticists expect to comprehensively understand grasp functionality and characteristics in order to design and control prosthetic hands or exoskeletons to help patients reconstruct the hand grasp functions
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