Grip Orientation Research Articles

Grasping of Real-World Objects Is Not Biased by Ensemble Perception.

The visual system is known to extract summary representations of visually similar objects which bias the perception of individual objects toward the ensemble average. Although vision plays a large role in guiding action, less is known about whether ensemble representation is informative for action. Motor behavior is tuned to the veridical dimensions of objects and generally considered resistant to perceptual biases. However, when the relevant grasp dimension is not available or is unconstrained, ensemble perception may be informative to behavior by providing gist information about surrounding objects. In the present study, we examined if summary representations of a surrounding ensemble display influenced grip aperture and orientation when participants reached-to-grasp a central circular target which had an explicit size but importantly no explicit orientation that the visuomotor system could selectively attend to. Maximum grip aperture and grip orientation were not biased by ensemble statistics during grasping, although participants were able to perceive and provide manual estimations of the average size and orientation of the ensemble display. Support vector machine classification of ensemble statistics achieved above-chance classification accuracy when trained on kinematic and electromyography data of the perceptual but not grasping conditions, supporting our univariate findings. These results suggest that even along unconstrained grasping dimensions, visually-guided behaviors toward real-world objects are not biased by ensemble processing.

Sensorimotor adaptation and cue reweighting compensate for distorted 3D shape information, accounting for paradoxical perception-action dissociations.

Visually guided movements can show surprising accuracy even when the perceived three-dimensional (3D) shape of the target is distorted. One explanation of this paradox is that an evolutionarily specialized "vision-for-action" system provides accurate shape estimates by relying selectively on stereo information and ignoring less reliable sources of shape information like texture and shading. However, the key support for this hypothesis has come from studies that analyze average behavior across many visuomotor interactions where available sensory feedback reinforces stereo information. The present study, which carefully accounts for the effects of feedback, shows that visuomotor interactions with slanted surfaces are actually planned using the same cue-combination function as slant perception and that apparent dissociations can arise due to two distinct supervised learning processes: sensorimotor adaptation and cue reweighting. In two experiments, we show that when a distorted slant cue biases perception (e.g., surfaces appear flattened by a fixed amount), sensorimotor adaptation rapidly adjusts the planned grip orientation to compensate for this constant error. However, when the distorted slant cue is unreliable, leading to variable errors across a set of objects (i.e., some slants are overestimated, others underestimated), then relative cue weights are gradually adjusted to reduce the misleading effect of the unreliable cue, consistent with previous perceptual studies of cue reweighting. The speed and flexibility of these two forms of learning provide an alternative explanation of why perception and action are sometimes found to be dissociated in experiments where some 3D shape cues are consistent with sensory feedback while others are faulty.NEW & NOTEWORTHY When interacting with three-dimensional (3D) objects, sensory feedback is available that could improve future performance via supervised learning. Here we confirm that natural visuomotor interactions lead to sensorimotor adaptation and cue reweighting, two distinct learning processes uniquely suited to resolve errors caused by biased and noisy 3D shape cues. These findings explain why perception and action are often found to be dissociated in experiments where some cues are consistent with sensory feedback while others are faulty.

The influence of hand location and handle orientation on female manual arm strength

Accurate estimations of manual arm strength (MAS) are crucial in the evaluation of occupational force demands relative to population capacity. Most current strength predictions assume force application with a vertically oriented handle, but it is unknown how uni-manual force capability changes as a function of handle orientation and hand location. This study evaluated the effect of handle orientation on MAS throughout the reach envelope. Fifteen female participants exerted maximum forces in six directions (i.e. superior, inferior, anterior, posterior, medial, lateral), at five different hand locations, and MAS was measured with the handle oriented at 0° (i.e. horizontal), 45°, 90° (i.e. vertical) and 135°. Handle orientation affected MAS in all but the anterior exertion direction, with significant interactions between hand location and grip orientation existing for the superior and inferior directions. These results suggest that handle orientation is important to consider in future predictive models of manual arm strength.

Volitional and automatic control of the hand when reaching to grasp objects.

When picking up an object, we tend to grasp at contact points that allow a stable grip. Recent studies have demonstrated that appropriate grasp points can be selected during an ongoing movement in response to unexpected perturbations of the target object. In this study, we tested whether such online grip adjustments are automatic responses or can be controlled volitionally. Subjects performed virtual grasping movements toward target 2D shapes that sometimes changed shape or orientation during movement. Unlike in previous studies, the conditions and task requirements discouraged any online adjustments toward the perturbed shapes. In Experiment 1, target shapes were perturbed briefly (200 ms) during movement before reverting to the original shape, and subjects were instructed to ignore the transient perturbations. Despite subjects' intentions, we observed online adjustments of grip orientation that were toward the expected grip axis of the briefly presented shape. In Experiment 2, we added a stop-signal to the grasping task, with target perturbation as the stop cue. We again observed unnecessary online adjustments toward the grip axis of the perturbed shape, with similar latency. Furthermore, the grip adjustments continued after the forward motion of the hand had stopped, indicating that the automatic response to the perturbed target shape co-occurred with the volitional response to the perturbation onset. Our results provide evidence that automatic control mechanisms are used to guide the fingers to appropriate grasp points and suggest that these mechanisms are distinct from those involved with volitional control. (PsycINFO Database Record

Muscular Exposures During Standardized Two-Handed Maximal Pushing and Pulling Tasks

OCCUPATIONAL APPLICATIONS We found markedly different muscular exposures and external hand force-generating muscle efficiencies when individuals produce maximal pushing and pulling forces in several experimental conditions (e.g., 100 cm versus 150 cm handle height, horizontal verss vertical grip orientation). For the same task characteristics, females produced higher levels of muscle activation and higher ratios of normalized muscle activity to force, which were likely the result of differing anthropometry between sexes. Females thus appear to be at higher risk for muscular overload during push/pull tasks. Pulling at waist height and pushing at shoulder height are recommended when possible, for similar task conditions to those studied. The high prevalence of pushing and pulling tasks in occupational settings enables use of these findings, in concert with traditional strength-based ergonomics assessments, to help protect both males and females from potential musculoskeletal overload.TECHNICAL ABSTRACT Rationale: Pushing and pulling tasks are highly prevalent across occupational settings. Despite increased availability of push and pull strength data, scarce information exists regarding specific muscle-based exposures when performing these tasks in common work configurations, and how these exposures differ between males and females. Purpose: We evaluated the influence of sex and several workplace factors on surface electromyography (EMG)-based exposure estimates during standardized, symmetric, two-handed maximal voluntary isometric push and pull tasks. Methods: Individual muscle and mean EMG activations (i.e., bilaterally and total), as well as weighted EMG to normalized force ratios (wEMG/nForce), were evaluated for seven bilateral shoulder and trunk muscles, in eight experimental conditions. Workplace factors manipulated were exertion direction (push and pull), handle height (100 cm and 150 cm) and handle orientation (vertical and horizontal). Results: For the muscles studied, pushing resulted in nearly twice (∼1.82×) the muscle activation than pulling. Across individual muscles, the largest difference between heights existed bilaterally for the pectoralis major, with pushing at 100 cm resulting in approximately twice the EMG amplitude. When pulling, only the right triceps activity differed between heights (i.e., 40% higher when exerting at 100 cm). Females produced higher normalized muscle activations (i.e., 23% higher across all muscles), and were generally less efficient than males, as indicted by a wEMG/nForce ratio approximately 26% higher than males across all tasks. The wEMG/nForce ratio was always higher when pulling at 150 cm compared to pulling at 100 cm, but handle height did not appear to influence wEMG/nForce when pushing. Conclusions: Females appear to be at a higher risk for muscular overload in the pushing and pulling tasks examined here. Adjusting the height of handles according to the task conditions can be a useful intervention to lower muscular demands.

The influence of golf shaft stiffness on grip and clubhead kinematics

ABSTRACTThe purpose of this study was to investigate the influence of shaft stiffness on grip and clubhead kinematics. Two driver shafts with disparate levels of stiffness, but very similar inertial properties, were tested by 33 golfers representing a range of abilities. Shaft deflection data as well as grip and clubhead kinematics were collected from 14 swings, with each shaft, for each golfer using an optical motion capture system. The more flexible shaft (R-Flex) demonstrated a higher contribution to clubhead speed from shaft deflection dynamics (P < .001), but was also associated with significantly less grip angular velocity at impact (P = .001), resulting in no significant difference in clubhead speed (P = .14). However, at the individual level, half of the participants demonstrated a significant difference in clubhead speed between shafts. The more flexible shaft was also associated with significantly different magnitudes of head rotation relative to the grip. More specifically, both bend loft (P < .001) and bend lie (P < .001) were greater for the R-Flex shaft, while bend close (P = .017) was greater for the stiffer (X-Flex) shaft. However, changes in grip orientation resulted in no significant differences in face orientation, between the shafts, at impact.

Grasping an object comfortably: orientation information is held in memory.

It has been shown that memorized information can influence real-time visuomotor control. For instance, a previously seen object (prime) influences grasping movements toward a target object. In this study, we examined how general the priming effect is: does it depend on the orientation of the target object and the similarity between the prime and the target? To do so, we examined whether priming effects occured for different orientations of the prime and the target objects and for primes that were either identical to the target object or only half of the target object. We found that for orientations of the target object that did not require an awkward grasp, the orientation of the prime could influence the initiation time and the final grip orientation. The priming effects on initiation time were only found when the whole target object was presented as prime, but not when only half of the target object was presented. The results suggest that a memory effect on real-time control is constrained by end-state comfort and by the relevance of the prime for the grasping movement, which might mean that the interactions between the ventral and dorsal pathways are task specific.

Do Humans Prefer to See Their Grasping Points?

ABSTRACT To grasp an object the digits need to be placed at suitable positions on its surface. The selection of such grasping points depends on several factors. Here the authors examined whether being able to see 1 of the selected grasping points is such a factor. Subjects grasped large cylinders or oriented blocks that would normally be grasped with the thumb continuously visible and the final part of the index finger's trajectory occluded by the object in question. An opaque screen that hid the thumb's usual grasping point was used to examine whether individuals would choose a grip that was oriented differently to maintain vision of the thumb's grasping point. A transparent screen was used as a control. Occluding the thumb's grasping point made subjects move more carefully (adopting a larger grip aperture) and choose a slightly different grip orientation. However, the change in grip orientation was much too small to keep the thumb visible. The authors conclude that humans do not particularly aim for visible grasping points.

Coordination of fingertip forces in object transport during gait in children with hemiplegic cerebral palsy

Coordination of fingertip forces in object transport during gait in children with hemiplegic cerebral palsy

Advance Planning in Sequential Pick–and–Place Tasks

It has been suggested that the kinematics of a reach-to-grasp movement, performed within an action sequence, vary depending on the action goal and the properties of subsequent movement segments (action context effect). The aim of this study was to investigate whether the action context also affects action sequences that consist of several grasping movements directed toward different target objects. Twenty participants were asked to perform a sequence in which they grasped a cylinder, placed it into a target area, and subsequently grasped and displaced a target bar of a certain orientation. We specifically tested whether the orientation of the target bar being grasped in the last movement segment influenced the grip orientation adapted to grasp and place the cylinder in the preceding segments. When all movement segments within the sequence were easy to perform, results indeed showed that grip orientation chosen in the early movement segments depended on the forthcoming motor demands, suggesting a holistic planning process. In contrast, high accuracy demands in specifying a movement segment reduced the ability of the motor system to plan and organize the movement sequence into larger chunks, thus causing a shift toward sequential performance. Additionally, making the placing task more difficult resulted in prolonged reaction times and increased the movement times of all other movement segments.

Planning movements well in advance

It has been suggested that the metrics of grasping movements directed to visible objects are controlled in real time and are therefore unaffected by previous experience. We tested whether the properties of a visually presented distractor object influence the kinematics of a subsequent grasping movement performed under full vision. After viewing an elliptical distractor object in one of two different orientations participants grasped a target object, which was either the same object with the same orientation or a circular object without obvious orientation. When grasping the circular target, grip orientation was influenced by the orientation of the distractor. Moreover, as in classical visuomotor priming, grasping movements were initiated faster when distractor and target were identical. Results provide evidence that planning of visually guided grasping movements is influenced by prior perceptual experience, challenging the notion that metric aspects of grasping are controlled exclusively on the basis of real-time information.

Adaptation of the precision grip orientation to a visual-haptic mismatch

Using a sequential-exposure approach, we examined sensorimotor adaptation of precision grip orientation to a visuo-haptic mismatch. Subjects (n = 41) were asked to grasp with thumb and index finger mirror-viewed objects. They could not see their hand due to the mirror, but they could feel an object located behind the mirror in the same place as the viewed object. When a -15 degrees orientation mismatch between viewed and felt object was introduced, subjects adapted to it by gradually modifying the orientation of their finger opposition axis. When the visuo-haptic mismatch further changed to -30 degrees or to +15 degrees , subjects continued to perform according to their pre-established adaptive state, and gradually modified it until it became adequate for the new mismatch. This outcome supports the existence of a continuously acting mechanism for grasping adaptation, similar to that previously described for pointing and tracking adaptation. Precision grip adaptation generalized to unpracticed object orientations, which suggests that adaptation was based on a sensorimotor recalibration rather than the learning of specific stimulus-response pairs. Transfer to pointing movements was found only when similarity to the grasp adaptation task was high.

Choosing between alternative wrist postures: Action planning needs perception

When normal subjects grasp with their right hand a rectangular object placed at different orientations in the horizontal plane, they change from a ‘thumb left’ (clockwise) to a ‘thumb right’ (anti-clockwise) grasp when the orientation exceeds about 110°, with respect to the mid-sagittal plane. This suggests planning of the final grip orientation at, or before the start of the prehension movement. The current study assessed performance of two visual agnosic patients (SB and DF) on a grasping task requiring the planning of final grip posture. Five healthy subjects were also tested. Subjects were required to grasp a triangular-section block, which was presented at one of seven different orientations (80–140°). The healthy subjects showed a consistent relation between object orientation and hand orientation just before contact. In addition, they consistently used a clockwise grasp when object orientation was less than 100°, and an anti-clockwise grasp when it was more than 110°, with a sharply defined switch-point being identifiable for each subject. For both visual agnosic patients, hand orientation was also reliably related to object orientation. However, the selection of grasp posture was markedly abnormal: they did not consistently switch between clockwise and anti-clockwise grasps within the normal orientation range, and the switch, when it did occur, was not at all sharply defined. These results suggest that the planning of hand orientation during a grasp depends on a perceptually based judgement of the awkwardness of alternative movements. This would presumably involve ventral stream processing, which is disrupted in the visual agnosic patients.

Planning movements well in advance

It has been suggested that the metrics of grasping movements directed to visible objects are controlled in real time and are therefore unaffected by previous experience. We tested whether the properties of a visually presented distractor object influence the kinematics of a subsequent grasping movement performed under full vision. After viewing an elliptical distractor object in one of two different orientations participants grasped a target object, which was either the same object with the same orientation or a circular object without obvious orientation. When grasping the circular target, grip orientation was influenced by the orientation of the distractor. Moreover, as in classical visuomotor priming, grasping movements were initiated faster when distractor and target were identical. Results provide evidence that planning of visually guided grasping movements is influenced by prior perceptual experience, challenging the notion that metric aspects of grasping are controlled exclusively on the basis of real-time information.

Consistent haptic feedback is required but it is not enough for natural reaching to virtual cylinders

In virtual reality it is easy to control the visual cues that tell us about an object’s shape. However, it is much harder to provide realistic virtual haptic feedback when grasping virtual objects. In this study we examined the role of haptic feedback when grasping (virtual) cylinders with an elliptical circumference. In Experiment 1 we placed the same circular cylinder at the simulated location of virtual elliptical cylinders of varying shape, so that the haptic feedback did not change when the visually specified shape changed. We found that the scaling of maximum grip aperture with the diameter of the nearest principal axis (.14±.04) was much weaker than when grasping real cylinders (.54±.04, Cuijpers, Brenner, & Smeets, 2006 Grasping reveals visual misjudgements of shape. Experimental Brain Research, 175, 32-44). For the scaling of grip orientation with the orientation of the cylinder we found large individual differences: the range is .07−.82 (average .42±.07) as compared to .55−.79 (average .67±.03) for grasping real cylinders. In Experiment 2 we provided consistent haptic feedback by placing real cylinders that matched the location, shape and orientation of the virtual cylinders. The scaling gains of both maximum grip aperture (.39±.04) and grip orientation (.56±.08) were substantially higher than in Experiment 1, but still lower than for grasps to real cylinders. The variability between participants for the scaling of grip orientation was also much reduced. These results showed that although haptic feedback must be consistent with visual information, it is not sufficient for natural prehension. We discuss the implications of these findings in terms of the integration of visual information with haptic feedback.

Grasping reveals visual misjudgements of shape

There are many conditions in which the visually perceived shape of an object differs from its true shape. We here show that one can reveal such errors by studying grasping. Nine subjects were asked to grasp and lift elliptical cylinders that were placed vertically at eye height. We varied the cylinder's aspect ratios, orientations about the vertical axis and distances from the subject. We found that the subjects' grip orientations deviated systematically from the orientations that would give the mechanically optimal grip. That this is largely due to misjudging the cylinder's shape (rather than to selecting a comfortable posture) follows from the fact that the grip aperture was initially more strongly correlated with the maximal grip aperture (which is related to the expected contact positions) than with the final grip aperture (which is determined by the real contact positions). The correlation with the maximal grip aperture drops from 0.8 to 0.6 in the last 1% of the traversed distance (11% of movement time), showing that the grip aperture was anticipated incorrectly (it is automatically "corrected" at contact). The grip orientation was already strongly correlated with the grip orientation at the time of maximal grip aperture, half way through the movement (R > or = 0.7), showing that the suboptimal grip orientations were planned that way. We conclude that subjects plan their grasps using information that is based on the misperceived shape.

Effects of the Ebbinghaus figure on grasping are not only due to misjudged size

It is not evident how the small effects of the flankers of the Ebbinghaus figure on peak grip aperture (PGA) should be interpreted. One interpretation is that the flankers influence the estimated size, which in turn influences the grasp. If this interpretation is correct, then only the size-dependent aspects of the grasping movement should depend on the spatial positions of the flankers. An alternative interpretation is that the effect on grip aperture is caused by a change in judgement of the required precision, in which case various aspects of the grasping movement could be influenced by the size and position of the flankers. We presented subjects with a display consisting of a central disk surrounded by four large or small flankers. The array of circular flankers could be rotated by 45 degrees . There were two tasks: to reproduce the perceived size of the central disk, and to grasp the central disk. As in other studies, the reproduced size and the PGA were both influenced by the size of the flankers. The effect on reproduced size settings was independent of the flankers' spatial position. Nevertheless, the flankers' position did influence the final grip aperture and the grip orientation at PGA and at movement offset. Because the flankers changed more than only the PGA, we conclude that the effect of the flankers on prehension cannot only be because of misjudgement of the size of the central disk.