Grip Force Control Research Articles

Specific Brain Reorganization Underlying Superior Upper Limb Motor Function After Spinal Cord Injury: A Multimodal MRI Study

Background We recently discovered that individuals with complete spinal cord injury (SCI) have a higher grip force control ability in their intact upper limbs than able-bodied subjects. However, the neural basis for this phenomenon is unknown. Objective This study aimed to investigate the neural basis of the higher grip force control in the brains of individuals with SCI using multimodal magnetic resonance imaging (MRI). Methods Eight SCI subjects and 10 able-bodied subjects performed hand grip force control tasks at 10%, 20%, and 30% of their maximal voluntary contraction during functional MRI (fMRI). Resting-state fMRI and T1-weighted structural images were obtained to investigate changes in brain networks and structures after SCI. Results SCI subjects showed higher grip force steadiness than able-bodied subjects (P < .05, corrected), smaller activation in the primary motor cortex (P < .05, corrected), and deactivation of the visual cortex (P < .001, uncorrected). Furthermore, SCI subjects had stronger functional connectivity between the superior parietal lobule and the left primary motor cortex (P < .001, uncorrected), as well as larger gray matter volume in the bilateral superior parietal lobule (P < .001, uncorrected). Conclusions The structural and functional reorganization observed in the superior parietal lobule of SCI subjects may represent the neural basis underlying the observed higher grip force control, and is likely responsible for the smaller activation in the primary motor cortex observed in these individuals. These findings could have applications in the fields of neurorehabilitation for improvement of intact limb functions after SCI.

The Effect of Variability in Stiffness on Perception and Grip Force Adjustment.

Haptic information can be used to create our perception of the stiffness of objects and to regulate grip force. Introducing noise into sensory inputs can create uncertainty, yet a method of creating haptic uncertainty without distorting the haptic information has yet to be discovered. Toward this end, in this article, we investigated the effect of varying haptic information between consecutive interactions with an elastic force field on stiffness perception and grip force control. In a stiffness discrimination task, participants interacted with force fields multiple times. Low, medium, and high variability levels were created by drawing the stiffness level applied in each consecutive interaction within a trial from normal distributions. Perceptual haptic uncertainty was created only by the medium variability level. Moreover, all the variability levels affected the grip force control: the modulation of the grip force with the load force decreased with repeated interactions with the force field, whereas no change in the baseline grip force was observed. Additionally, we ascertained that participants formed their perceived stiffness by calculating a weighted average of the different stiffness levels applied by a given force field. We conclude that the medium variability level can be effective in inducing uncertainty in both perception and action.

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

Actuators that can generate controllable compliant output motion are suitable for robots that need to interact safely with humans or the environment. To obtain the accurate output torque required to control the compliant motion, existing robotic actuators use one or more sensors to measure the deformation of a stiff or compliant element between the actuator and the output. The complexity, reliability, and cost of sensors are the current challenges. Deformation-based sensing also suffers from limited bandwidth and stability range. This paper proposes a torque-sensorless control method of stepper motors to generate compliant motion. Stepper motors are used because of their low cost and reliability. They also have a much higher torque-to-weight ratio and torque-to-rotor-inertia ratio than other DC motors. Torque and impedance controllers based on stepper motor current feedback are developed. Torque-sensorless impedance, and gripping force control experiments are provided to show the advantages of the proposed method. It is expected that the new control method for stepper motors can offer a competitive alternative when cost, stability, or bandwidth of complaint actuators are the major concerns.

Neural Correlates of Age-Related Changes in Precise Grip Force Regulation: A Combined EEG-fNIRS Study.

Motor control is associated with suppression of oscillatory activity in alpha (8–12 Hz) and beta (12–30 Hz) ranges and elevation of oxygenated hemoglobin levels in motor-cortical areas. Aging leads to changes in oscillatory and hemodynamic brain activity and impairments in motor control. However, the relationship between age-related changes in motor control and brain activity is not yet fully understood. Therefore, this study aimed to investigate age-related and task-complexity-related changes in grip force control and the underlying oscillatory and hemodynamic activity. Sixteen younger [age (mean ± SD) = 25.4 ± 1.9, 20–30 years] and 16 older (age = 56.7 ± 4.7, 50–70 years) healthy men were asked to use a power grip to perform six trials each of easy and complex force tracking tasks (FTTs) with their right dominant hand in a randomized within-subject design. Grip force control was assessed using a sensor-based device. Brain activity in premotor and primary motor areas of both hemispheres was assessed by electroencephalography (EEG) and functional near-infrared spectroscopy (fNIRS). Older adults showed significantly higher inaccuracies and higher hemodynamic activity in both FTTs than did young adults. Correlations between grip force control owing to task complexity and beta activity were different in the contralateral premotor cortex (PMC) between younger and older adults. Collectively, these findings suggest that aging leads to impairment of grip force control and an increase in hemodynamic activity independent of task complexity. EEG beta oscillations may represent a task-specific neurophysiological marker for age-related decline in complex grip force control and its underlying compensation strategies. Further EEG-fNIRS studies are necessary to determine neurophysiological markers of dysfunctions underlying age-related motor disabilities for the improvement of individual diagnosis and therapeutic approaches.

A Novel Grip Force Measurement Concept for Tactile Stimulation Mechanisms - Design, Validation, and User Study.

In this article, we developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and substantially reduces tactor motion artifacts on force measurement. To test the feasibility of this new concept, we built a device that measures control of grip force in response to a tactile stimulation from a moving tactor. We calibrated and validated our device with a testing setup with a second force sensor over a range of 0 to 20 N without movement of the tactors. We tested the effect of tactor movement on the measured grip force, and measured artifacts of 1% of the measured force. We demonstrated that during the application of dynamically changing grip forces, the average errors were 2.9% and 3.7% for the left and right sides of the gripper, respectively. We characterized the bandwidth, backlash, and noise of our tactile stimulation mechanism. Finally, we conducted a user study and found that in response to tactor movement, participants increased their grip force, the increase was larger for a smaller target force, and depended on the amount of tactile stimulation.

Correlating Grip Force Signals from Multiple Sensors Highlights Prehensile Control Strategies in a Complex Task-User System.

Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the non-invasive monitoring of signals to track and trace user behaviors in real time. Examples include signals relative to hand and finger movements or force control reflected by individual grip force data. As will be shown here, these signals directly translate into task, skill, and hand-specific (dominant versus non-dominant hand) grip force profiles for different measurement loci in the fingers and palm of the hand. The present study draws from thousands of such sensor data recorded from multiple spatial locations. The individual grip force profiles of a highly proficient left-hander (expert), a right-handed dominant-hand-trained user, and a right-handed novice performing an image-guided, robot-assisted precision task with the dominant or the non-dominant hand are analyzed. The step-by-step statistical approach follows Tukey’s “detective work” principle, guided by explicit functional assumptions relating to somatosensory receptive field organization in the human brain. Correlation analyses (Person’s product moment) reveal skill-specific differences in co-variation patterns in the individual grip force profiles. These can be functionally mapped to from-global-to-local coding principles in the brain networks that govern grip force control and its optimization with a specific task expertise. Implications for the real-time monitoring of grip forces and performance training in complex task-user systems are brought forward.

HYGRIP: Full-Stack Characterization of Neurobehavioral Signals (fNIRS, EEG, EMG, Force, and Breathing) During a Bimanual Grip Force Control Task.

HYGRIP: Full-Stack Characterization of Neurobehavioral Signals (fNIRS, EEG, EMG, Force, and Breathing) During a Bimanual Grip Force Control Task.

Visual Feedback of Object Motion Direction Influences the Timing of Grip Force Modulation During Object Manipulation.

During manipulation, object slipping is prevented by modulating the grip force (GF) in synchrony with motion-related inertial forces, i.e., load force (LF). However, due to conduction delays of the sensory system, GF must be modulated in advance based on predictions of LF changes. It has been proposed that such predictive force control relies on internal representations, i.e., internal models, of the relation between the dynamic of the environment and movement kinematics. Somatosensory and visual feedback plays a primary role in building these internal representations. For instance, it has been shown that manipulation-dependent somatosensory signals contribute to building internal representations of gravity in normal and altered gravitational contexts. Furthermore, delaying the timing of visual feedback of object displacement has been shown to affect GF. Here, we explored whether and the extent to which spatial features of visual feedback movement, such as motion direction, may contribute to GF control. If this were the case, a spatial mismatch between actual (somatosensory) and visual feedback of object motion would elicit changes in GF modulation. We tested this hypothesis by asking participants to generate vertical object movements while visual feedback of object position was congruent (0° rotation) or incongruent (180° or 90°) with the actual object displacement. The role of vision on GF control was quantified by the temporal shift of GF modulation as a function of visual feedback orientation and actual object motion direction. GF control was affected by visual feedback when this was incongruent in the vertical (180°), but not horizontal dimension. Importantly, 180° visual feedback rotation delayed and anticipated GF modulation during upward and downward actual movements, respectively. Our findings suggest that during manipulation, spatial features of visual feedback motion are used to predict upcoming LF changes. Furthermore, the present study provides evidence that an internal model of gravity contributes to GF control by influencing sensory reweighting processes during object manipulation.

Seven Properties of Self-Organization in the Human Brain

The principle of self-organization has acquired a fundamental significance in the newly emerging field of computational philosophy. Self-organizing systems have been described in various domains in science and philosophy including physics, neuroscience, biology and medicine, ecology, and sociology. While system architecture and their general purpose may depend on domain-specific concepts and definitions, there are (at least) seven key properties of self-organization clearly identified in brain systems: (1) modular connectivity, (2) unsupervised learning, (3) adaptive ability, (4) functional resiliency, (5) functional plasticity, (6) from-local-to-global functional organization, and (7) dynamic system growth. These are defined here in the light of insight from neurobiology, cognitive neuroscience and Adaptive Resonance Theory (ART), and physics to show that self-organization achieves stability and functional plasticity while minimizing structural system complexity. A specific example informed by empirical research is discussed to illustrate how modularity, adaptive learning, and dynamic network growth enable stable yet plastic somatosensory representation for human grip force control. Implications for the design of “strong” artificial intelligence in robotics are brought forward.

Stretching the skin immediately enhances perceived stiffness and gradually enhances the predictive control of grip force.

When manipulating objects, we use kinesthetic and tactile information to form an internal representation of their mechanical properties for cognitive perception and for preventing their slippage using predictive control of grip force. A major challenge in understanding the dissociable contributions of tactile and kinesthetic information to perception and action is the natural coupling between them. Unlike previous studies that addressed this question either by focusing on impaired sensory processing in patients or using local anesthesia, we used a behavioral study with a programmable mechatronic device that stretches the skin of the fingertips to address this issue in the intact sensorimotor system. We found that artificial skin-stretch increases the predictive grip force modulation in anticipation of the load force. Moreover, the stretch causes an immediate illusion of touching a harder object that does not depend on the gradual development of the predictive modulation of grip force.

Muscle synergy for upper limb damping behavior during object transport while walking in healthy young individuals

Transporting an object during locomotion is one of the most common activities humans perform. Previous studies have shown that continuous and predictive control of grip force, along with the inertial load force of the object, is required to complete this task successfully. Another possible CNS strategy to ensure the dynamic stability of the upper limb is to modify the apparent stiffness and damping via altered muscle activation patterns. In this study, the term damping was used to describe a reduction in upper limb vertical oscillation amplitude to maintain the orientation of the hand-held object. The goal of this study was to identify the neuromuscular strategy for controlling the upper limb during object transport while walking. Three-dimensional kinematic and surface electromyography (EMG) data were recorded from eight, right-handed, healthy young adults who were instructed to walk on a treadmill while carrying an object in their dominant/non-dominant hand, with dominant/non-dominant arm positioning but without an object, and without any object or instructed arm-positioning. EMG recordings from the dominant and non-dominant arms were decomposed separately into underlying muscle synergies using non-negative matrix factorization (NNMF). Results revealed that the dominant arm showed higher damping compared to the non-dominant arm. All muscles showed higher mean levels of activation during object transport except for posterior deltoid (PD), with activation peaks occurring around or slightly before heel contact. The muscle synergy analysis revealed an anticipatory stabilization of the shoulder and elbow joints through a proximal-to-distal muscle activation pattern. These activations appear to play an essential role in maintaining the stability of the carried object in addition to the adjustment of grip force against the perturbations caused by heel contact during walking.

Grip Stabilization through Independent Finger Tactile Feedback Control

Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be applied by each finger. Such approaches normally rely on object and contact models and do not generalize well to novel manipulation tasks. Here, we propose a modular grip stabilization method based on a proposition that explains how humans achieve grasp stability. In this biomimetic approach, independent tactile grip stabilization controllers ensure that slip does not occur locally at the engaged robot fingers. Local slip is predicted from the tactile signals of each fingertip sensor i.e., BioTac and BioTac SP by Syntouch. We show that stable grasps emerge without any form of central communication when such independent controllers are engaged in the control of multi-digit robotic hands. The resulting grasps are resistant to external perturbations while ensuring stable grips on a wide variety of objects.

The effect of tactile augmentation on manipulation and grip force control during force-field adaptation

BackgroundWhen exposed to a novel dynamic perturbation, participants adapt by changing their movements’ dynamics. This adaptation is achieved by constructing an internal representation of the perturbation, which allows for applying forces that compensate for the novel external conditions. To form an internal representation, the sensorimotor system gathers and integrates sensory inputs, including kinesthetic and tactile information about the external load. The relative contribution of the kinesthetic and tactile information in force-field adaptation is poorly understood.MethodsIn this study, we set out to establish the effect of augmented tactile information on adaptation to force-field. Two groups of participants received a velocity-dependent tangential skin deformation from a custom-built skin-stretch device together with a velocity-dependent force-field from a kinesthetic haptic device. One group experienced a skin deformation in the same direction of the force, and the other in the opposite direction. A third group received only the velocity-dependent force-field.ResultsWe found that adding a skin deformation did not affect the kinematics of the movement during adaptation. However, participants who received skin deformation in the opposite direction adapted their manipulation forces faster and to a greater extent than those who received skin deformation in the same direction of the force. In addition, we found that skin deformation in the same direction to the force-field caused an increase in the applied grip-force per amount of load force, both in response and in anticipation of the stretch, compared to the other two groups.ConclusionsAugmented tactile information affects the internal representations for the control of manipulation and grip forces, and these internal representations are likely updated via distinct mechanisms. We discuss the implications of these results for assistive and rehabilitation devices.

Grip force control during object manipulation in cervical myelopathy.

Cross-sectional research. To objectively evaluate grip force (GF) control while holding a freely movable object in individuals with cervical myelopathy (CM). Harunaso Hospital, Takasaki,Japan. We studied 52 hands from 26 individuals with CM. Participants performed a grip-and-lift task by pulp pinch using the thumb and index finger before surgery. We monitored individual finger GF (N) during the first 3 s while lifting and holding an object. Correlations between the GF and other clinical tests were evaluated. A multiple stepwise regression analysis was used to examine the contribution of the GF to the severity of clinical symptoms. Thumb GF was negatively correlated with the 10-s test (rs = -0.32), and index finger GF was positively correlated with its cutaneous pressure threshold (rs = 0.34). Multiple regression for the severity of upper extremity symptoms revealed that the model including the GF had a larger adjusted R2 and a lower AIC value than that of conventionally used clinical tests. These results suggested that the assessment of individual finger GF control could provide an indicator of the clinical severity of upper extremity in individuals with CM.

Recovery and Prediction of Dynamic Precision Grip Force Control After Stroke

Background and Purpose- Dexterous object manipulation, requiring generation and control of finger forces, is often impaired after stroke. This study aimed to describe recovery of precision grip force control after stroke and to determine clinical and imaging predictors of 6-month performance. Methods- Eighty first-ever stroke patients with varying degrees of upper limb weakness were evaluated at 3 weeks, 3 months, and 6 months after stroke. Twenty-three healthy individuals of comparable age were also studied. The Strength-Dexterity test was used to quantify index finger and thumb forces during compression of springs of varying length in a precision grip. The coordination between finger forces (CorrForce), along with Dexterity-score and Repeatability-score, was calculated. Anatomical magnetic resonance imaging was used to calculate weighted corticospinal tract lesion load (wCST-LL). Results- CorrForce, Dexterity-score, and Repeatability-score in the affected hand were dramatically lower at each time point compared with the less-affected hand and the control group, even in patients with mild motor impairment according to Fugl-Meyer assessment. Improved performance over time occurred in CorrForce and Dexterity-score but not in Repeatability-score. The Fugl-Meyer assessment hand subscale, sensory function, and wCST-LL best predicted CorrForce and Dexterity-score status at 6 months (R2=0.56 and 0.87, respectively). wCST-LL explained substantial variance in CorrForce (R2=0.34) and Dexterity-score (R2=0.50) at 6 months; two-point discrimination and Fugl-Meyer score accounted for considerable additional variance. Absence of recovery in CorrForce was predicted by wCST-LL >4 cc and in Dexterity-score by wCST-LL >6 cc. Conclusions- Findings highlight persisting deficits in the ability to grasp and control finger forces after stroke. wCST-LL was the strongest predictor of performance at 6 months, but early two-point discrimination and Fugl-Meyer score had substantial additional predictive value. Clinical Trial Registration- URL: https://www.clinicaltrials.gov. Unique identifier: NCT02878304.

Impaired force control contributes to car steering dysfunction in chronic stroke

Purpose Precise control of a car steering wheel requires adequate motor capability. Deficits in grip strength and force control after stroke could influence the ability steer a car. Our study aimed to determine the impact of stroke on car steering and identify the relative contribution of grip strength and grip force control to steering performance. Methods Twelve chronic stroke survivors and 12 controls performed three gripping tasks with each hand: maximum voluntary contraction, dynamic force tracking, and steering a car on a winding road in a simulated driving environment. We quantified grip strength, grip force variability, and deviation of the car from the center of the lane. Results The paretic hand exhibited reduced grip strength, increased grip force variability, and increased lane deviation compared with the non-dominant hand in controls. Grip force variability, but not grip strength, significantly predicted (R 2 = 0.49, p < 0.05) lane deviation with the paretic hand. Conclusion Stroke impairs the steering ability of the paretic hand. Although grip strength and force control of the paretic hand are diminished after stroke, only grip force control predicts steering accuracy. Deficits in grip force control after stroke contribute to functional limitations in performing skilled tasks with the paretic hand. Implications for rehabilitation Driving is an important goal for independent mobility after stroke that requires motor capability to manipulate hand and foot controls. Two prominent stroke-related motor impairments that may impact precise car steering are reduced grip strength and grip force control. In individuals with mild-moderate impairments, deficits in grip force modulation rather than grip strength contribute to compromised steering performance with the paretic hand. We recommend that driving rehabilitation should consider re-educating grip force modulation for successful driving outcomes post stroke.

Flexible organization of grip force control during movement frequency scaling.

The grip force applied to maintain grasp of a handheld object has been typically reported as tightly coupled to the load force exerted by the object as it is actively manipulated, occurring proportionally and consistently in phase with changes in load force. However, continuous grip force-load force coupling breaks down when overall load force levels and oscillation amplitudes are lower (Grover F, Lamb M, Bonnette S, Silva PL, Lorenz T, Riley MA. Exp Brain Res 236: 2531-2544, 2018) or more predictable (Grover FM, Nalepka P, Silva PL, Lorenz T, Riley MA. Exp Brain Res 237: 687-703, 2019). Under these circumstances, grip force is instead only intermittently coupled to load force; continuous coupling is prompted only when load force levels or variations become sufficiently high or unpredictable. The current study investigated the nature of the transition between continuous and intermittent modes of grip force control by scaling the load force level and the oscillation amplitude continuously in time by means of scaling the required frequency of movement oscillations. Participants grasped a cylindrical object between the thumb and forefinger and oscillated their arm about the shoulder in the sagittal plane. Oscillation frequencies were paced with a metronome that scaled through an ascending or descending frequency progression. Due to greater accelerations, faster frequencies produced greater overall load force levels and more pronounced load oscillations. We observed smooth but nonlinear transitions between clear regimes of intermittent and continuous grip force-load force coordination, for both scaling directions, indicating that grip force control can flexibly reorganize as parameters affecting grasp (e.g., variations in load force) change over time.NEW & NOTEWORTHY Grip force (GF) is synchronously coupled to changing load forces (LF) during object manipulation when LF levels are high or unpredictable, but only intermittently coupled to LF during less challenging grasp conditions. This study characterized the nature of transitions between synchronous and intermittent GF-LF coupling, revealing a smooth but nonlinear change in intermittent GF modulation in response to continuous scaling of LF amplitude. Intermittent, "drift-and-act" control may provide an alternative framework for understanding GF-LF coupling.

Grip Force-Load Force Coupling Is Influenced by Altered Visual Feedback about Object Kinematics

Recent evidence suggests that visual feedback influences the adjustment of grip force to the changing load force exerted by a grasped object as it is manipulated. The current project investigated how visual feedback of object kinematics affects the coupling of grip force to load force by scaling the apparent displacements of the object viewed in virtual reality. Participants moved the object to manually track a moving virtual target. The predictability of the changing load force exerted by the object was also manipulated by altering the nature of target trajectories (and therefore the nature of object motions). When apparent object displacements increased in magnitude, grip force became more tightly coupled to load force over time. Furthermore, when load force variations were less predictable, the magnitude of apparent object displacements affected the relative degree of continuous versus intermittent coupling of grip force to load force. These findings show that visual feedback of object motion affects the ongoing dynamical coupling between grip force control and load force experienced during manipulation of a grasped object.

Better grip force control by attending to the controlled object: Evidence for direct force estimation from visual motion

Estimating forces acting between our hand and objects is essential for dexterous motor control. An earlier study suggested that vision contributes to the estimation by demonstrating changes in grip force pattern caused by delayed visual feedback. However, two possible vision-based force estimation processes, one based on hand position and another based on object motion, were both able to explain the effect. Here, to test each process, we examined how visual feedback of hand and object each contribute to grip force control during moving an object (mass) connected to the grip by a damped-spring. Although force applied to the hand could be estimated from its displacement, we did not find any improvements by the hand feedback. In contrast, we found that visual feedback of object motion significantly improved the synchrony between grip and load forces. Furthermore, when both feedback sources were provided, the improvement was observed only when participants were instructed to direct their attention to the object. Our results suggest that visual feedback of object motion contributes to estimation of dynamic forces involved in our actions by means of inverse dynamics computation, i.e., the estimation of force from motion, and that visual attention directed towards the object facilitates this effect.

Grip force preparation for collisions.

Grip force has been studied widely in a variety of interaction and movement tasks, however, not much is known about the timing of the grip force control in preparation for interaction with objects. For example, it is unknown whether and how the temporal preparation for a collision is related to (the prediction of) the impact load. To study this question, we examined the anticipative timing of the grip force in preparation for impact loads. We designed a collision task with different types of load forces in a controlled virtual environment. Participants interacted with a robotic device (KINARM, BKIN Technologies, Kingston) whose handles were equipped with force sensors which the participants held in precision grip. Representations of the hand and objects were visually projected on a virtual reality display and forces were applied onto the participant's hand to simulate a collision with the virtual objects. The collisions were alternating between the two hands to allow transfer and learning between the hands. The results show that there is immediate transfer of object information between the two hands, since the grip force levels are (almost) fully adjusted after one collision with the opposite hand. The results also show that the grip force levels are nicely adjusted based on the mass and stiffness of the object. Surprisingly, the temporal onset of the grip force build up did not depend on the impact load, so that participants avoid slippage by adjusting the other grip force characteristics (e.g., grip force level and rate of change), therefore considering these self-imposed timing constraints. With the use of catch trials, for which no impact occurred, we further analyzed the temporal profile of the grip force. The catch trial data showed that the timing of the grip force peak is also independent of the impact load and its timing, which suggests a time-locked planning of the complete grip force profile.