Hand Preshaping Research Articles

Arm muscle synergies enhance hand posture prediction in combination with forearm muscle synergies

Objective. We analyze and interpret arm and forearm muscle activity in relation with the kinematics of hand pre-shaping during reaching and grasping from the perspective of human synergistic motor control. Approach. Ten subjects performed six tasks involving reaching, grasping and object manipulation. We recorded electromyographic (EMG) signals from arm and forearm muscles with a mix of bipolar electrodes and high-density grids of electrodes. Motion capture was concurrently recorded to estimate hand kinematics. Muscle synergies were extracted separately for arm and forearm muscles, and postural synergies were extracted from hand joint angles. We assessed whether activation coefficients of postural synergies positively correlate with and can be regressed from activation coefficients of muscle synergies. Each type of synergies was clustered across subjects. Main results. We found consistency of the identified synergies across subjects, and we functionally evaluated synergy clusters computed across subjects to identify synergies representative of all subjects. We found a positive correlation between pairs of activation coefficients of muscle and postural synergies with important functional implications. We demonstrated a significant positive contribution in the combination between arm and forearm muscle synergies in estimating hand postural synergies with respect to estimation based on muscle synergies of only one body segment, either arm or forearm (p < 0.01). We found that dimensionality reduction of multi-muscle EMG root mean square (RMS) signals did not significantly affect hand posture estimation, as demonstrated by comparable results with regression of hand angles from EMG RMS signals. Significance. We demonstrated that hand posture prediction improves by combining activity of arm and forearm muscles and we evaluate, for the first time, correlation and regression between activation coefficients of arm muscle and hand postural synergies. Our findings can be beneficial for myoelectric control of hand prosthesis and upper-limb exoskeletons, and for biomarker evaluation during neurorehabilitation.

Grasping and Transport of Unstructured Collections of Massive Objects

We present a collection of sensorimotor models which, when paired with a custom, mobile manipulation platform, collectively enable the autonomous deconstruction of piles of debris to facilitate mobility in cluttered spaces. The models address the problems of visual debris segmentation, object selection, and visual grasp planning. They also exercise proprioceptive grasp control, and force-controlled object extraction to enact the grasping plan. The object selector segments a debris pile into a set of parts that appear disjoint from one another and executes a rule-based decision program to select the object that appears easiest to extract. Then a grasp planner identifies a grasping point and hand preshape at a location where the gripper configuration fits the shape of the object, while also satisfying kinematic and collision-avoidance constraints. Our geometric grasp-prototype concept allows the planner to establish grasp suitability by fitting a set of shape-grasp primitives to a 2.5D depth image of the pile. The robot then applies the grasp reactively, pushing against the object until a preset resistance is met. Finally, an admittance controller guides object extraction, allowing a prescribed end-effector compliance along task-frame axes to minimize adverse forces and torques on the hand. We show experiments demonstrating the applicability of those models in isolation and in concert, including grasp tests conducted on objects representative of of a human-scale urban environment.

Grasping movements toward seen and handheld objects

Grasping movements are typically performed toward visually sensed objects. However, planning and execution of grasping movements can be supported also by haptic information when we grasp objects held in the other hand. In the present study we investigated this sensorimotor integration process by comparing grasping movements towards objects sensed through visual, haptic or visuo-haptic signals. When movements were based on haptic information only, hand preshaping was initiated earlier, the digits closed on the object more slowly, and the final phase was more cautious compared to movements based on only visual information. Importantly, the simultaneous availability of vision and haptics led to faster movements and to an overall decrease of the grip aperture. Our findings also show that each modality contributes to a different extent in different phases of the movement, with haptics being more crucial in the initial phases and vision being more important for the final on-line control. Thus, vision and haptics can be flexibly combined to optimize the execution of grasping movement.

Touch the table before the target: contact with an underlying surface may assist the development of precise visually controlled reach and grasp movements in human infants.

Multiple motor channel theory posits that skilled hand movements arise from the coordinated activation of separable neural circuits in parietofrontal cortex, each of which produces a distinct movement and responds to different sensory inputs. Prehension, the act of reaching to grasp an object, consists of at least two movements: a reach movement that transports the hand to a target location and a grasp movement that shapes and closes the hand for target acquisition. During early development, discrete pre-reach and pre-grasp movements are refined based on proprioceptive and tactile feedback, but are gradually coordinated together into a singular hand preshaping movement under feedforward visual control. The neural and behavioural factors that enable this transition are currently unknown. In an attempt to identify such factors, the present descriptive study used frame-by-frame video analysis to examine 9-, 12-, and 15-month-old infants, along with sighted and unsighted adults, as they reached to grasp small ring-shaped pieces of cereal (Cheerios) resting on a table. Compared to sighted adults, infants and unsighted adults were more likely to make initial contact with the underlying table before they contacted the target. The way in which they did so was also similar in that they generally contacted the table with the tip of the thumb and/or pinky finger, a relatively open hand, and poor reach accuracy. Despite this, infants were similar to sighted adults in that they tended to use a pincer digit, defined as the tip of the thumb or index finger, to subsequently contact the target. Only in infants was this ability related to their having made prior contact with the underlying table. The results are discussed in relation to the idea that initial contact with an underlying table or surface may assist infants in learning to use feedforward visual control to direct their digits towards a precise visual target.

A fingertip force prediction model for grasp patterns characterised from the chaotic behaviour of EEG.

A stable grasp is attained through appropriate hand preshaping and precise fingertip forces. Here, we have proposed a method to decode grasp patterns from motor imagery and subsequent fingertip force estimation model with a slippage avoidance strategy. We have developed a feature-based classification of electroencephalography (EEG) associated with imagination of the grasping postures. Chaotic behaviour of EEG for different grasping patterns has been utilised to capture the dynamics of associated motor activities. We have computed correlation dimension (CD) as the feature and classified with "one against one" multiclass support vector machine (SVM) to discriminate between different grasping patterns. The result of the analysis showed varying classification accuracies at different subband levels. Broad categories of grasping patterns, namely, power grasp and precision grasp, were classified at a 96.0% accuracy rate in the alpha subband. Furthermore, power grasp subtypes were classified with an accuracy of 97.2% in the upper beta subband, whereas precision grasp subtypes showed relatively lower 75.0% accuracy in the alpha subband. Following assessment of fingertip force distributions while grasping, a nonlinear autoregressive (NAR) model with proper prediction of fingertip forces was proposed for each grasp pattern. A slippage detection strategy has been incorporated with automatic recalibration of the regripping force. Intention of each grasp pattern associated with corresponding fingertip force model was virtualised in this work. This integrated system can be utilised as the control strategy for prosthetic hand in the future. The model to virtualise motor imagery based fingertip force prediction with inherent slippage correction for different grasp types ᅟ.

HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis

This paper proposes a multi-DoF hybrid-powered transradial robotic prosthesis, named HyPro. The HyPro consists of two prosthetic units: hand and wrist that can achieve five grasping patterns such as power grasp, tip grasp, lateral grasp, hook grasp, and index point. It is an underactuated device with 15 degrees of freedom. A hybrid powering concept is proposed and implemented on hand unit of HyPro where the key focus is on restoration of grasp functions of biological hand. A novel underactuated mechanism is introduced to achieve the required hand preshaping for a given grasping pattern using electric power in the pregrasp stage and body power is used in grasp stage to execute the final grasping action with the selected fingers. Unlike existing hybrid prostheses where each of the joints is separately controlled by either electric or body power, the proposed prosthesis is capable of delivering grasping power in combination. The wrist unit of HyPro is designed and developed to achieve flexion-extension and supination-pronation using electric power. Experiments were carried out to evaluate the functionality and performance of the proposed hybrid-powered robotic prosthesis. The results verified the potential of HyPro to perform intended grasping patterns effectively and efficiently.

Grasping with a new hand: Improved performance and normalized grasp-selective brain responses despite persistent functional changes in primary motor cortex and low-level sensory and motor impairments

Hand loss can now be reversed through surgical transplantation years or decades after amputation. Remarkably, these patients come to use their new hand to skilfully grasp and manipulate objects. The brain mechanisms that make this possible are unknown. Here we test the hypothesis that the anterior intraparietal cortex (aIPC) – a multimodal region implicated in hand preshaping and error correction during grasping – plays a key role in this compensatory grasp control. Motion capture and fMRI are used to characterize hand kinematics and brain responses during visually guided grasping with a transplanted hand at 26 and 41 months post-transplant in patient DR, a former hand amputee of 13 years. Compared with matched controls, DR shows increasingly normal grasp kinematics paralleled by increasingly robust grasp-selective fMRI responses within the very same brain areas that show grasp-selectivity in controls, including the aIPC, premotor and cerebellar cortices. Paradoxically, over this same time DR exhibits significant limitations in basic sensory and motor functions, and persistent amputation-related functional reorganization of primary motor cortex. Movements of the non-transplanted hand positively activate the ipsilateral primary motor hand area – a functional marker of persistent interhemispheric amputation-related reorganization. Our data demonstrate for the first time that even after more than a decade of living as an amputee the normative functional brain organization governing the control of grasping can be restored. We propose that the aIPC and interconnected premotor and cerebellar cortices enable grasp normalization by compensating for the functional impact of reorganizational changes in primary sensorimotor cortex and targeting errors in regenerating peripheral nerves.

Earlier and greater hand pre-shaping in the elderly: a study based on kinematic analysis of reaching movements to grasp objects.

Elderly people are less able to manipulate objects skilfully than young adults. Although previous studies have examined age-related deterioration of hand movements with a focus on the phase after grasping objects, the changes in the reaching phase have not been studied thus far. We aimed to examine whether changes in hand shape patterns during the reaching phase of grasping movements differ between young adults and the elderly. Ten healthy elderly adults and 10 healthy young adults were examined using the Simple Test for Evaluating Hand Functions and kinetic analysis of hand pre-shaping reach-to-grasp tasks. The results were then compared between the two groups. For kinetic analysis, we measured the time of peak tangential velocity of the wrist and the inter-fingertip distance (the distance between the tips of the thumb and index finger) at different time points. The results showed that the elderly group's performance on the Simple Test for Evaluating Hand Functions was significantly lower than that of the young adult group, irrespective of whether the dominant or non-dominant hand was used, indicating deterioration of hand movement in the elderly. The peak tangential velocity of the wrist in either hand appeared significantly earlier in the elderly group than in the young adult group. The elderly group also showed larger inter-fingertip distances with arch-like fingertip trajectories compared to the young adult group for all object sizes. To perform accurate prehension, elderly people have an earlier peak tangential velocity point than young adults. This allows for a longer adjustment time for reaching and grasping movements and for reducing errors in object prehension by opening the hand and fingers wider. Elderly individuals gradually modify their strategy based on previous successes and failures during daily living to compensate for their decline in dexterity and operational capabilities.

Grasping the sound: Auditory pitch influences size processing in motor planning.

Growing evidence shows that individuals consistently match auditory pitch with visual size. For instance, high-pitched sounds are perceptually associated with smaller visual stimuli, whereas low-pitched sounds with larger ones. The present study explores whether this crossmodal correspondence, reported so far for perceptual processing, also modulates motor planning. To address this issue, we carried out a series of kinematic experiments to verify whether actions implying size processing are affected by auditory pitch. Experiment 1 showed that grasping movements toward small/large objects were initiated faster in response to high/low pitches, respectively, thus extending previous findings in the literature to more complex motor behavior. Importantly, auditory pitch influenced the relative scaling of the hand preshaping, with high pitches associated with smaller grip aperture compared with low pitches. Notably, no effect of auditory pitch was found in case of pointing movements (no grasp implied, Experiment 2), as well as when auditory pitch was irrelevant to the programming of the grip aperture, that is, in case of grasping an object of uniform size (Experiment 3). Finally, auditory pitch influenced also symbolic manual gestures expressing "small" and "large" concepts (Experiment 4). In sum, our results are novel in revealing the impact of auditory pitch on motor planning when size processing is required, and shed light on the role of auditory information in driving actions.

Decoding Internally and Externally Driven Movement Plans.

The way the human brain prepares the body for action constitutes an essential part of our ability to interact with our environment. Previous studies demonstrated that patterns of neuronal activity encode upcoming movements. Here we used multivariate pattern analysis of human fMRI data to distinguish between brain regions containing movement plans for instructed (externally driven) movements, areas involved in movement selection (internally driven), and areas containing abstract movement plans that are invariant to the way these were generated (i.e., that generalize across externally and internally driven movement plans). Our findings extend our understanding of the neural basis of movement planning and have the potential to contribute to the development of brain-controlled neural prosthetic devices.

A new control model for the temporal coordination of arm transport and hand preshape applying to two-dimensional space

It is an important research subject for the fields of cybernetics, robotics and artificial intelligence science that on the basis of neurophysiology and neuroanatomy, simulates and replicates the cerebellar sensorimotor control system for the robots. Around this theme and based on Hoff and Arbib׳s control theory of the minimum jerk, this paper presents a new control model with cerebellar-like structure which can account for the temporal coordination of arm transport and hand preshape during reach and grasp tasks. And it has also been suggested that how the structure could learn the two key functions required in the Hoff–Arbib theory, namely state look-ahead and TTG (time-to-go) estimation. By the simulation for two-dimensional motion of arm transport and hand preshape, the results demonstrate that some key features of human reach–grasp kinematics obtained by Hoff–Arbib model can be achieved by the cerebellum control model and some performances are even better. In a word, by learning and training, the model can obtain the accurate smooth motor trajectory.

The eye in hand: predicting others' behavior by integrating multiple sources of information

The ability to predict the outcome of other beings' actions confers significant adaptive advantages. Experiments have assessed that human action observation can use multiple information sources, but it is currently unknown how they are integrated and how conflicts between them are resolved. To address this issue, we designed an action observation paradigm requiring the integration of multiple, potentially conflicting sources of evidence about the action target: the actor's gaze direction, hand preshape, and arm trajectory, and their availability and relative uncertainty in time. In two experiments, we analyzed participants' action prediction ability by using eye tracking and behavioral measures. The results show that the information provided by the actor's gaze affected participants' explicit predictions. However, results also show that gaze information was disregarded as soon as information on the actor's hand preshape was available, and this latter information source had widespread effects on participants' prediction ability. Furthermore, as the action unfolded in time, participants relied increasingly more on the arm movement source, showing sensitivity to its increasing informativeness. Therefore, the results suggest that the brain forms a robust estimate of the actor's motor intention by integrating multiple sources of information. However, when informative motor cues such as a preshaped hand with a given grip are available and might help in selecting action targets, people tend to capitalize on such motor cues, thus turning out to be more accurate and fast in inferring the object to be manipulated by the other's hand.

10413 自然な操作感実現のための手指のプリシェイピング時の表面筋電位と物理センサを用いた筋電義手の制御法

10413 自然な操作感実現のための手指のプリシェイピング時の表面筋電位と物理センサを用いた筋電義手の制御法

Neural correlates of object size and object location during grasping actions.

The visuo-motor channel hypothesis (Jeannerod, 1981) postulates that grasping movements consist of a grip and a transport component differing in their reliance on intrinsic vs. extrinsic object properties (e.g. size vs. location, respectively). While recent neuroimaging studies have revealed separate brain areas implicated in grip and transport components within the parietal lobe, less is known about the neural processing of extrinsic and intrinsic properties of objects for grasping actions. We used functional magnetic resonance imaging adaptation to examine the cortical areas involved in processing object size, object location or both. Participants grasped (using the dominant right hand) or passively viewed sequential pairs of objects that could differ in size, location or both. We hypothesized that if intrinsic and extrinsic object properties are processed separately, as suggested by the visuo-motor channel hypothesis, we would observe adaptation to object size in areas that code the grip and adaptation to location in areas that code the transport component. On the other hand, if intrinsic and extrinsic object properties are not processed separately, brain areas involved in grasping may show adaptation to both object size and location. We found adaptation to object size for grasping movements in the left anterior intraparietal sulcus (aIPS), in agreement with the idea that object size is processed separately from location. In addition, the left superior parietal occipital sulcus (SPOC), primary somatosensory and motor area (S1/M1), precuneus, dorsal premotor cortex (PMd), and supplementary motor area (SMA) showed non-additive adaptation to both object size and location. We propose different roles for the aIPS as compared with the SPOC, S1/M1, precuneus, PMd and SMA. In particular, while the aIPS codes intrinsic object properties, which are relevant for hand preshaping and force scaling, area SPOC, S1/M1, precuneus, PMd and SMA code intrinsic as well as extrinsic object properties, both of which are relevant for digit positioning during grasping.

Momentum Transfer from Preshape to Grasping

A fully immersed object, suspended in water can be rotated from distance by a preshaped robot hand approaching and closing upon the object prior to contacting it. Momentum transfer from robot fingers closing into a grasp, to the fluid medium particles, and from these particles to the object surface generates the motion tendencies of that object in terms of rotational and translational displacements. In this paper, we propose the novel concept of a controller that determines either: 1) given initial position and orientation of a robot hand, what preshape is suitable for generating a desired momentum distribution on the surface of a given object in order to trigger a desired rotation in a desired direction when approaching with this preshaped hand; or 2) given a predetermined hand preshape, what initial position, orientation and hand aperture are suitable to generate a desired rotation upon approach and, without causing the retroceeding of the object. The desired object motion generated from distance by the approach of a hand preshape is to be used seamlessly for the subsequent manipulation of the object upon grasp. Towards this end, we propose in our work, a new model based on computational fluid dynamics, for determining the continuity in momentum transfer from robot hand fingers to the fluid medium, and to the object, until landing on that immersed object. Our experimental results demonstrate how different hand preshapes initiated from different locations in the medium surrounding an object of different cross sections suspended in equilibrium in the fluid, affects its motion tendencies in terms of rotation and translation. Our further contribution, in this paper, includes the modelling of robot fingers and object as fluidic elements which rigidity can be relaxed to induce compliance.

Activity in ventral premotor cortex is modulated by vision of own hand in action

Parietal and premotor cortices of the macaque monkey contain distinct populations of neurons which, in addition to their motor discharge, are also activated by visual stimulation. Among these visuomotor neurons, a population of grasping neurons located in the anterior intraparietal area (AIP) shows discharge modulation when the own hand is visible during object grasping. Given the dense connections between AIP and inferior frontal regions, we aimed at investigating whether two hand-related frontal areas, ventral premotor area F5 and primary motor cortex (area F1), contain neurons with similar properties. Two macaques were involved in a grasping task executed in various light/dark conditions in which the to-be-grasped object was kept visible by a dim retro-illumination. Approximately 62% of F5 and 55% of F1 motor neurons showed light/dark modulations. To better isolate the effect of hand-related visual input, we introduced two further conditions characterized by kinematic features similar to the dark condition. The scene was briefly illuminated (i) during hand preshaping (pre-touch flash, PT-flash) and (ii) at hand-object contact (touch flash, T-flash). Approximately 48% of F5 and 44% of F1 motor neurons showed a flash-related modulation. Considering flash-modulated neurons in the two flash conditions, ∼40% from F5 and ∼52% from F1 showed stronger activity in PT- than T-flash (PT-flash-dominant), whereas ∼60% from F5 and ∼48% from F1 showed stronger activity in T- than PT-flash (T-flash-dominant). Furthermore, F5, but not F1, flash-dominant neurons were characterized by a higher peak and mean discharge in the preferred flash condition as compared to light and dark conditions. Still considering F5, the distribution of the time of peak discharge was similar in light and preferred flash conditions. This study shows that the frontal cortex contains neurons, previously classified as motor neurons, which are sensitive to the observation of meaningful phases of the own grasping action. We conclude by discussing the possible functional role of these populations.

The organization of digit contact timing during grasping

While the process of hand preshaping during grasping has been studied for over a decade, there is relatively little information regarding the organization of digit contact timing (DCT). This dearth of information may be due to the assumption that DCT while grasping exhibits few regularities or to the difficulty in obtaining information through traditional movement recording techniques. In this study, we employed a novel technique to determine the time of digit contacts with the target object at a high precision rate in normal healthy participants. Our results indicate that, under our task conditions, subjects tend to employ a radial to ulnar pattern of DCT which may be modulated by the shape of the target object. Moreover, a number of parameters, such as the total contact time, the frequency of first contacts by the thumb and index fingers and the number of simultaneous contacts, are affected by the relative complexity of the target object. Our data support the notion that a great deal of information about the object's physical features is obtained during the early moments of the grasp.

An application of cerebellar control model for prehension movements

At present, it is a research hotspot in robot control field that using cerebellum control model with neurophysiology significance to control various different sensory coordination motor of robot system, and constructing arm transport balanced control model is an important subject of investigating robotics and control science. In this paper, we account for the temporal coordination problem between arm transport and hand preshape during reach and grasp tasks with the general cerebellar control model proposed by us. And it has also be suggested that how the structure could learn two key functions required in the classical Hoff–Arbib theory, namely state look-ahead and TTG (time-to-go) estimation. The simulation includes two steps. Firstly, the situation about the one-dimensional space is studied and trained. The results show that the model can obtain accurate smooth trajectories, and this part will be described in detail in this paper. Secondly, we extended the simulation to the two-dimensional space. Using the method described in reference Ruan and Zhang (Chin J Electron 35(5):991–995, 2007) which replaces the position scalar of above simulation with double joint plane arm, we transform the distance training in one dimension into multi-dimensional training (direction and distance) in Cartesian space so that increase the evaluation standard for system complexity and practical applicability. The simulation results are very ideal. But in consideration of article length, the simulation process and result of this part will be introduced and explained in another paper.

Oral hapsis guides accurate hand preshaping for grasping food targets in the mouth

Preshaping the digits and orienting the hand when reaching to grasp a distal target is proposed to be optimal when guided by vision. A reach-to-grasp movement to an object in one's own mouth is a natural and commonly used movement, but there has been no previous description of how it is performed. The movement requires accuracy but likely depends upon haptic rather than visual guidance, leading to the question of whether the kinematics of this movement are similar to those with vision or whether the movement depends upon an alternate strategy. The present study used frame-by-frame video analysis and linear kinematics to analyze hand movements as participants reached for ethologically relevant food targets placed either at a distal location or in the mouth. When reaching for small and medium-sized food items (blueberries and donut balls) that had maximal lip-to-target contact, hand preshaping was equivalent to that used for visually guided reaching. When reaching for a large food item (orange slice) that extended beyond the edges of the mouth, hand preshaping was suboptimal compared to vision. Nevertheless, hapsis from the reaching hand was used to reshape and reorient the hand after first contact with the large target. The equally precise guidance of hand preshaping under oral hapsis is discussed in relation to the idea that hand preshaping, and its requisite neural circuitry, may have originated under somatosensory control, with secondary access by vision.

Grasping with the eyes

When observing someone else acting on an object, people implement goal-specific eye movement programs that are driven by their own motor representation of the observed action. Usually, however, we observe people acting in contexts where more objects, different in shape and size, are present. Is our brain able to select the intended target even when there are different objects in the visual scene? And if this is the case, what kind of information does our motor system capitalize on? We recorded eye movements while participants observed an actor reaching for and grasping one of two objects requiring two different kinds of grip to be picked up. In a control condition, the actor merely reached for and touched one of the two objects without preshaping her hand according to the target features. Results showed higher accuracy and earlier saccadic movements when participants observed an actually grasping hand than when they observed a mere reaching hand devoid of any kind of target-related preshaping. This clearly suggests that the hand preshaping provided the observer with enough motor cues to proactively and reliably saccade toward the object to be grasped, thus identifying it even when the action target was not previously known. Our findings strongly corroborate the direct matching hypothesis suggesting that in processing others' actions, we take advantage of the same motor knowledge that enables us to efficiently perform those actions.