Maximum Grip Aperture Research Articles

Some Illusions Are More Inconsistent Than Others.

Illusions are characterized by inconsistencies. For instance, in the motion aftereffect, we see motion without an equivalent change in position. We used a simple pencil-and-paper experiment to determine whether illusions that influence an object’s apparent size give rise to equivalent changes in apparent positions along the object’s outline. We found different results for two equally strong size illusions. The Ebbinghaus illusion affected perceived positions in a way that was consistent with its influence on perceived size, but a modified diagonal illusion did not affect perceived positions. This difference between the illusions might explain why there are so many conflicting reports about the effects of size illusions on the maximum grip aperture during reach-to-grasp movements.

Prehensile kinematics of the marmoset monkey: Implications for the evolution of visually-guided behaviors.

Throughout the primate lineage, there is a wide diversity of prehensile capacity that is thought to stem from individual species foraging patterns. While many studies have explored primates with precise hand grips, such as higher apes, few have considered primates that lack opposition movements. The New World marmoset monkey occupies an intriguing niche, displaying adept control of their hand movements yet their absence of opposable digits results in relatively imprecise grasping actions when compared with those observed in Old World monkeys, apes, and humans. The marmoset monkey offers a unique composition of ancestral primate corticospinal organization combined with skilled hand use to explore the evolution and development of visually-guided actions. In this study, four adult marmosets were trained to perform a series of visually-guided tasks, designed to assess their control over locating and retrieving objects of differing dimensions. Two of these animals received a neonatal lesion of the inferior pulvinar (unilateral), a thalamic nucleus previously demonstrated to be involved in visuomotor development. The kinematics of their reaching and grasping patterns were recorded for offline analysis. Predictive modeling revealed that maximum grip aperture, time to reach peak velocity and hand use were reliable predictors of distinguishing between cohorts. A consistent feature observed across all tasks was that they do not precisely scale their grip according to the dimensions of the target object which may be attributed to their lack of independent digit control. Therefore, the marmoset monkey represents a previously understudied position in the evolution of primate reach and grasp behavior.

Hear speech, change your reach: changes in the left-hand grasp-to-eat action during speech processing.

Research has shown that the kinematic characteristics of right-hand movements change when executed during both speech production and processing. Despite the variety of prehension and manual actions used to examine this relationship, the literature has yet to examine potential movement effects using an action with a distinct kinematic signature: the hand-to-mouth (grasp-to-eat) action. In this study, participants performed grasp-to-eat and grasp-to-place actions in (a) a quiet environment and (b) while processing speech. Results during the quiet condition replicated the previous findings; consistently smaller grasp-to-eat (compared to grasp-to-place), maximum grip apertures appeared only when using the right hand. Interestingly, in the listen condition, smaller maximum grip apertures in the grasp-to-eat movement appeared in both the right and left hands, despite the fact that participants were right-handed. This paper addresses these results in relation with similar behaviour observed in children, and discusses implications for functional lateralization and neural organization.

The target as an obstacle: Grasping an object at different heights

Humans use a stereotypical movement pattern to grasp a target object. What is the cause of this stereotypical pattern? One of the possible factors is that the target object is considered an obstacle at positions other than the envisioned goal positions for the digits: while each digit aims for a goal position on the target object, they avoid other positions on the target object even if these positions do not obstruct the movement. According to this hypothesis, the maximum grip aperture will be higher if the risk of colliding with the target object is larger. Based on this hypothesis, we made a set of two unique predictions for grasping a vertically oriented cuboid at its sides at different heights. For cuboids of the same height, the maximum grip aperture will be smaller when grasped higher. For cuboids whose height varies with grip height, the maximum grip aperture will be larger when grasped higher. Both predicted relations were experimentally confirmed. This result supports the idea that considering the target object as an obstacle at positions other than the envisioned goal positions for the digits is underlying the stereotypical movement patterns in grasping. The goal positions of the digits thus influence the maximum grip aperture even if the distance between the goal positions on the target object does not change.

P28. The functional role of the anterior intraparietal sulcus for recovery of hand function in chronic stroke patients – A combined fMRI-TMS study

Introduction After stroke, neuroimaging studies frequently show increased activation of contralesional regions such as the primary motor cortex (M1) and the anterior intraparietal sulcus (aIPS) during movements of the impaired hand ( Rehme et al., 2012 ). There is evidence that these areas may adopt either supportive or disturbing implications for motor control, depending on multiple factors, such as age, stroke severity, and lesion location ( Di Pino et al., 2014 ). Importantly, previous research has mainly focused on investigating this question in the contralesional M1, while other areas involved in motor control, such as the aIPS have often been neglected despite considerable changes in post-stroke activity. Hence, we here examined the role of both ipsi- and contralesional aIPS for recovered motor function in the chronic phase post stroke using neuronavigated ‘online-TMS’ guided by individual fMRI activation maps. Methods First, we assessed structural and functional MRI data of chronic stroke patients and age-matched controls. During fMRI, participants performed an index finger tapping task to localize motor-related activation. The coordinates of peak activity in bilateral aIPS were identified in each participant and subsequently used as stimulation targets to apply short trains of rTMS (10 Hz trains, 90% of resting motor threshold, rMT) time locked to hand movements of different complexity: Participants performed (i) index finger tapping, (ii) pointing between two targets, and (iii) reach-to-grasp movements while ipsilateral M1, aIPS, or contralateral aIPS were transiently disturbed by rTMS. Sham stimulation served as control with the coil being tilted over the parieto-occipital vertex. Task performance was measured using a 3D motion analysis system (Zebris). Results TMS interference with aIPS contralateral to the moving hand led to altered kinematics across all tasks modulating finger tapping amplitudes, pointing accuracy and maximum grip aperture during grasping, highlighting the role of this region for hand motor control in patients and healthy controls. In contrast, interference with aIPS and M1 ipsilateral to the moving hand revealed differential effects in patients. Preliminary data suggest distinct roles of these contralesional areas for recovered hand function in chronic stroke. Conclusions The present findings provide proof-of-principle for the use of fMRI-guided TMS allowing to assess target regions’ functions for hand motor control on the single-subject level. Implementing this approach in a larger cohort of stroke patients provides a promising strategy to individually characterize maladaptive or supportive roles in bilateral aIPS and the contralesional M1 in relation to patient’s motor impairment and lesion topology.

Transfer of adaptation reveals shared mechanism in grasping and manual estimation

An influential idea in cognitive neuroscience is that perception and action are highly separable brain functions, implemented in distinct neural systems. In particular, this theory predicts that the functional distinction between grasping, a skilled action, and manual estimation, a type of perceptual report, should be mirrored by a split between their respective control systems. This idea has received support from a variety of dissociations, yet many of these findings have been criticized for failing to pinpoint the source of the dissociation. In this study, we devised a novel approach to this question, first targeting specific grasp control mechanisms through visuomotor adaptation, then testing whether adapted mechanisms were also involved in manual estimation – a response widely characterized as perceptual in function. Participants grasped objects in virtual reality that could appear larger or smaller than the actual physical sizes felt at the end of each grasp. After brief exposure to a size perturbation, manual estimates were biased in the same direction as the maximum grip apertures of grasping movements, indicating that the adapted mechanism is active in both tasks, regardless of the perception-action distinction. Additional experiments showed that the transfer effect generalizes broadly over space (Exp. 1B) and does not appear to arise from a change in visual perception (Exp. 2). We discuss two adaptable mechanisms that could have mediated the observed effect: (a) an afferent proprioceptive mechanism for sensing grip shape; and (b) an efferent visuomotor transformation of size information into a grip-shaping motor command.

Grasping trajectories in a virtual environment adhere to Weber's law.

Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

Kinematics of ventrally mediated grasp-to-eat actions: right-hand advantage is dependent on dorsal stream input.

Studies have suggested a left-hemisphere specialization for visually guided grasp-to-eat actions by way of task-dependent kinematic asymmetries (i.e., smaller maximum grip apertures for right-handed grasp-to-eat movements than for right-handed grasp-to-place movements or left-handed movements of either type). It is unknown, however, whether this left-hemisphere/right-hand kinematic advantage is reliant on the dorsal "vision-for-action" visual stream. The present study investigates the kinematic differences between grasp-to-eat and grasp-to place actions performance during closed-loop (i.e., dorsally mediated) and open-loop delay (i.e., ventrally mediated) conditions. Twenty-one right-handed adult participants were asked to reach to grasp small food items to (1) eat them, or (2) place them in a container below the mouth. Grasps were performed in both closed-loop and open-loop delay conditions, in separate sessions. We show that participants displayed the right-hand grasp-to-eat kinematic advantage in the closed-loop condition, but not in the open-loop delay condition. As no task-dependent kinematic differences were found in ventrally mediated grasps, we posit that the left-hemisphere/right-hand advantage is dependent on dorsal stream processing.

What Is the Nature of the Reach and Grasp Deficit in Wet Age-related Macular Degeneration?

Vision is paramount for motor actions directed toward objects. Vision allows not only the identification of objects and their shape and spatial location, but also the adaptation of our movement when it arrives on the object. These findings show that vision deficits, as in age-related macular degeneration (AMD), can lead to reaching and grasping deficits. Few studies have investigated reaching and grasping in patients with AMD. They showed a deficit in the execution of motor actions in people with AMD, even though these people do not mention difficulties in their daily lives. The purpose of this study was to understand the nature of impairments in motor actions in patients. We compared performance in two reach-and-grasp tasks determined by whether the participants (16 people with wet AMD and 17 age-matched control subjects) had time to look at the object before reaching and grasping it. The results show that the kinematic parameters of reach-and-grasp movements do not differ between groups when participants are provided time to look at the object before the movement. In contrast, performance in terms of movement duration, acceleration time, time to reach the maximum grip aperture, and the maximum velocity differ between patients and control subjects when the object is displayed immediately before the movement. The motor perturbations observed in people with AMD in previous studies seem to result from difficulties in target identification rather than from visuomotor deficits.

Visuomotor Resolution in Telerobotic Grasping with Transmission Delays

Weber’s law is among the basic psychophysical laws of human perception. It determines that human sensitivity to change along a physical dimension, the just noticeable difference (JND), is linearly related to stimulus intensity. Conversely, in direct (natural), visually-guided grasping, Weber’s law is violated, and the JND does not depend on stimulus intensity. The current work examines adherence to Weber’s law in telerobotic grasping. In direct grasping, perception and action are integrated for task performance. Conversely, in telerobotic control, there is an inherent spatial and temporal separation between perception and action. The understanding of perception-action association in such conditions may facilitate development of objective measures of telerobotic systems and contribute to improved interface design. Moreover, telerobotic systems offer a unique platform for examining underlying causes for the violation of Weber’s law during direct grasping. We examined whether, like direct grasping, telerobotic grasping with transmission delays violates Weber’s law. To this end, we examined perceptual assessment, grasp control, and grasp demonstration, using a telerobotic system with time delays in two spatial orientations: alongside and facing the robot. The examination framework was adapted to telerobotics from the framework used for examining Weber’s law in direct grasping. The variability of final grip apertures in perceptual assessment increased with object size in adherence with Weber’s law. Similarly, the variability of maximal grip apertures in grasp demonstration approached significance in adherence with Weber’s law. In grasp control, the variability of maximal grip apertures did not increase with object size, which seems to violate Weber’s law. However, unlike in direct grasping, motion trajectories were prolonged and fragmented, and included an atypical waiting period prior to finger closure. Therefore, in this condition, maximal grip aperture was an inappropriate indicator of JND. Instead, we calculated the aperture at the end of the opening phase, the initial grip aperture, and the final grip aperture at the beginning of the waiting period, as more appropriate JND indicators. The initial grip apertures adhered to Weber’s law. The final grip apertures approached significance in the same direction. This suggests that perception-action association during telerobotic grasping with transmission delays significantly diverge from direct grasping.

Error correction and spatial generalization in human grasp control

The visual processes that support grasp planning are often studied by analyzing averaged kinematics of repeated movements, as in the literature on grasping and visual illusions. However, by recalibrating visuomotor mappings, the sensorimotor system can adjust motor outputs without changing visual processing, which complicates the interpretation of averaged behavior. We developed a dynamic model of grasp planning and adaptation that can explain why some studies find decrements in illusion effects on grasping while others do not. In two experiments, we tested grasping in a standard three-phase adaptation paradigm and analyzed adaptation aftereffects on the maximum grip aperture as well as the error correction parameters estimated by our model. Experiment 1 demonstrated that the model accounts for adaptive responses to positive and negative visual size perturbations. Experiment 2 supported the novel hypothesis that visuomotor mappings for grasp planning can compensate for opposing size perturbations when these perturbations are experienced in separate regions of space. Our findings serve to illustrate how the surprising flexibility of grasp adaptation can hide (especially in session-wise averages) the true effects of visual perturbations on the visual processes that drive grasp planning.

Does visuomotor adaptation contribute to illusion-resistant grasping?

Do illusory distortions of perceived object size influence how wide the hand is opened during a grasping movement? Many studies on this question have reported illusion-resistant grasping, but this finding has been contradicted by other studies showing that grasping movements and perceptual judgments are equally susceptible. One largely unexplored explanation for these contradictions is that illusion effects on grasping can be reduced with repeated movements. Using a visuomotor adaptation paradigm, we investigated whether an adaptation model could predict the time course of Ponzo illusion effects on grasping. Participants performed a series of trials in which they viewed a thin wooden target, manually reported an estimate of the target's length, then reached to grasp the target. Manual size estimates (MSEs) were clearly biased by the illusion, but maximum grip apertures (MGAs) of grasping movements were consistently accurate. Illusion-resistant MGAs were observed immediately upon presentation of the illusion, so there was no decrement in susceptibility for the adaptation model to explain. To determine whether online corrections based on visual feedback could have produced illusion-resistant MGAs, we performed an exploratory post hoc analysis of movement trajectories. Early portions of the illusion effect profile evolved as if they were biased by the illusion to the same magnitude as the perceptual responses (MSEs), but this bias was attenuated prior to the MGA. Overall, this preregistered study demonstrated that visuomotor adaptation of grasping is not the primary source of illusion resistance in closed-loop grasping.

Concurrent anticipation of two object dimensions during grasping in 10-month-old infants: A quantitative analysis

The anticipation of more than one object dimension while grasping for objects has been rarely investigated in infancy. The few existing studies by Newell et al. and Schum et al. have revealed mixed results probably mainly due to methodological limitations. Therefore, the present experiments tested concurrent anticipatory grasping for two object dimensions, namely, object size and object orientation using a quantitative motion capture system (Vicon), in 10-month-old infants and adults. We presented objects varying in size (small vs. large) and orientation (horizontally vs. vertically) and analyzed participants’ anticipatory hand configurations. As with adults, we observed that infants rotated their wrists, thumbs, and index fingers as a function of object orientation and adjusted their maximum grip apertures and their grip apertures shortly before they touched the objects as a function of object size. Analyses on an individual level showed that infants like adults anticipated both dimensions when the maximal values of aperture and angle were used but not when the measures shortly before touch were considered. Thus, the ability to anticipate more than one object dimension can already be observed at 10 months of age but seems to improve considerably over the first year of life.

The inimitable mouth: task-dependent kinematic differences are independent of terminal precision.

Previous studies in our lab have described kinematic difference between grasp-to-eat and grasp-to-place movements, whereby participants produce smaller maximum grip apertures (MGAs) when grasping to bring the item to the mouth than when grasping to bring the item to a container near the mouth. This task difference is limited to right-handed movements, regardless of handedness; it has, therefore, been interpreted as evidence of left-hemisphere lateralization of the grasp-to-eat and other hand-to-mouth grasping movements. However, the difference in end-goal aperture may have accounted for both the kinematic signature (smaller MGAs) and their lateralized expression. Specifically, if the right hand is more sensitive to the precision requirements of secondary movements, it may have produced more precise MGAs for actions whose ultimate goal is the small-aperture mouth rather than a comparatively large aperture container. The current study addresses this question by replacing the previously-used bib with a small drinking glass whose aperture more closely resembles that of the mouth. 25 adult participants reached-to-grasp small cereal items to either (a) eat them, or (b) place them into a small-aperture glass hanging beneath their chin. Results once more showed a lateralised kinematic signature in the form of smaller MGAs for the eat action, demonstrating that the signature is not a result of lateralized sensitivity to a movement's secondary precision requirements. We discuss these results in terms of their impact on predominant theories regarding visual guidance of grasping movements.

Observing Grasping Actions Directed to Emotion-Laden Objects: Effects upon Corticospinal Excitability.

The motor system is recruited whenever one executes an action as well as when one observes the same action being executed by others. Although it is well established that emotion modulates the motor system, the effect of observing other individuals acting in an emotional context is particularly elusive. The main aim of this study was to investigate the effect induced by the observation of grasping directed to emotion-laden objects upon corticospinal excitability (CSE). Participants classified video-clips depicting the right-hand of an actor grasping emotion-laden objects. Twenty video-clips differing in terms of valence but balanced in arousal level were selected. Motor evoked potentials (MEPs) were then recorded from the first dorsal interosseous using transcranial magnetic stimulation (TMS) while the participants observed the selected emotional video-clips. During the video-clip presentation, TMS pulses were randomly applied at one of two different time points of grasping: (1) maximum grip aperture, and (2) object contact time. CSE was higher during the observation of grasping directed to unpleasant objects compared to pleasant ones. These results indicate that when someone observes an action of grasping directed to emotion-laden objects, the effect of the object valence promotes a specific modulation over the motor system.

Grasping objects by former amputees: The visuo-motor control of allografted hands.

Hand allograft has recently emerged as a therapeutic option for upper limb amputees. Functional neuroimaging studies have progressively revealed sensorimotor cortices plasticity following both amputation and transplantation. The purpose of our study was to assess and characterize the functional recovery of the visuo-motor control of prehension in bilateral hand transplanted patients. Using kinematics recordings, we characterized the performance of prehension with or without visual feed-back for object of different position and size, in five bilateral hand allograft recipients and age-matched control subjects. Both hands were assessed, separately. Despite an overall slower execution, allografted patients succeeded in grasping for more than 90% of the trials. They exhibited a preserved hand grip scaling according to object size, and preserved prehension performances when tested without visual feedback. These findings highlight the allograft recipients' abilities to produce an effective motor program, and a good proprioceptive-dependent online control. Nevertheless, the maximum grip aperture was reduced and delayed, the coupling between Transport and Grasp components was altered, and the final phase of the movement was lengthened. Hand allotransplantation can offer recipients a good recovery of the visuo-motor control of prehension, with slight impairments likely attributable to peripheral neuro-orthopedic limitations.

The destination defines the journey: an examination of the kinematics of hand-to-mouth movements.

Long-train electrical stimulation of the motor and premotor cortices of nonhuman primates can produce either hand-to-mouth or grasp-to-inspect movements, depending on the precise location of stimulation. Furthermore, single-neuron recording studies identify discrete neuronal populations in the inferior parietal and ventral premotor cortices that respond uniquely to either grasp-to-eat or grasp-to-place movements, despite their identical mechanistic requirements. These studies demonstrate that the macaque motor cortex is organized around producing functional, goal-oriented movements, rather than simply fulfilling muscular prerequisites of action. In humans, right-handed hand-to-mouth movements have a unique kinematic signature; smaller maximum grip apertures are produced when grasping to eat than when grasping to place identical targets. This is evidence that the motor cortex in humans is also organized around producing functional movements. However, in both macaques and humans, grasp-to-eat/hand-to-mouth movements have always been elicited using edible targets and have (necessarily) been paired with mouth movement. It is therefore unknown whether the kinematic distinction is a natural result of grasping food and/or is simply attributable to concurrent opening of the mouth while grasping. In experiment 1, we used goal-differentiated grasping tasks, directed toward edible and inedible targets, to show that the unique kinematic signature is present even with inedible targets. In experiment 2, we used the same goal-differentiated grasping tasks, either coupled with or divorced from an open-mouth movement, to show that the signature is not attributable merely to a planned opening of the mouth during the grasp. These results are discussed in relation to the role of hand-to-mouth movements in human development, independently of grasp-to-eat behavior.

Functional dissociation between action and perception of object shape in developmental visual object agnosia

According to the two visual systems model, the cortical visual system is segregated into a ventral pathway mediating object recognition, and a dorsal pathway mediating visuomotor control. In the present study we examined whether the visual control of action could develop normally even when visual perceptual abilities are compromised from early childhood onward. Using his fingers, LG, an individual with a rare developmental visual object agnosia, manually estimated (perceptual condition) the width of blocks that varied in width and length (but not in overall size), or simply picked them up across their width (grasping condition). LG's perceptual sensitivity to target width was profoundly impaired in the manual estimation task compared to matched controls. In contrast, the sensitivity to object shape during grasping, as measured by maximum grip aperture (MGA), the time to reach the MGA, the reaction time and the total movement time were all normal in LG. Further analysis, however, revealed that LG's sensitivity to object shape during grasping emerged at a later time stage during the movement compared to controls. Taken together, these results demonstrate a dissociation between action and perception of object shape, and also point to a distinction between different stages of the grasping movement, namely planning versus online control. Moreover, the present study implies that visuomotor abilities can develop normally even when perceptual abilities developed in a profoundly impaired fashion.

Younger Children with Cerebral Palsy Respond Better Than Older Ones to Therapist-Based Constraint-Induced Therapy at Home on Functional Outcomes and Motor Control

ABSTRACTAims: To examine the differences in efficacy of home-based constraint-induced therapy (CIT) on functional outcomes and motor control in two age groups of children with cerebral palsy (CP). Methods: Twenty-three children with spastic unilateral CP receiving 4-week home-based CIT by a therapist were divided into younger (6–8 years; n = 11) and older (9–12 years; n = 12) groups. The home-based CIT involved intensive functional training of the more affected upper-limb while restraining the less affected upper-limb. The outcome measures were Peabody Developmental Motor Scale-2nd edition (PDMS-2) that was being used in a modified way, Functional Independence Measure for Children (WeeFIM), and reach-to-grasp kinematic parameters, including reaction time (RT), normalized movement time (MT), normalized movement units (MUs), peak velocity (PV), and maximum grip aperture (MGA). The outcome measures were assessed at baseline, 4-weeks (post-treatment), 3- and 6-months (follow-up). Results: The younger group showed greater changes in visual motor integration skills and RT at all post-tests after intervention than the older group. Groups had comparable changes on any other measures. Conclusions: Younger children with CP responded better to home-based CIT on some areas of upper-limb functions and reach-to-grasp motor control strategies than older children.

Review of upper limb kinematics after cervical spinal cord injury: Implications for rehabilitation

The aim of this literature review is to provide a clear understanding of motor control and kinematic changes during open-chain upper limb (UL) movements after tetraplegia. Using data from MEDLINE between 1966 and August 2014, we investigated kinematic UL studies after tetraplegia. We included fourteen control case and three series case studies with a total of 161 SCI participants and 126 healthy control participants. SCI participants efficiently perform a broad range of tasks with their UL This is achieved by effective scapulothoracic and glenohumeral compensation which provide a dynamic mechanical coupling between the shoulder and elbow joints thus palliating elbow extension despite triceps brachii paralysis. The mechanism is incomplete, however, since C5-C6 SCI individuals are forced to reduce overhead workspace to keep the elbow extended and to maintain the mechanical dynamic interaction between the shoulder and elbow. Furthermore, motion slowing is a clear kinematic characteristic, caused by: – decreased strength; – triceps brachii paralysis disrupting normal agonist-antagonist co-contraction; – accuracy requirements at movement endpoint; – grasping. Grasping requires a prolonged deceleration phase during transport to ensure hand placement with respect to the to-be-grasped object then wrist extension during grasping to elicit either whole hand or lateral grip. Contrary to the normal pattern, where grasping is prepared during the transport phase, SCI individuals transport the wrist in flexion leading to passive finger opening that did not attest a grip preparation particularly if object size is greater than maximal grip aperture. The pattern (wrist flexed then extended) indicates that reaching and grasping are performed consecutively suggesting that these two phases are independent. Elbow extension restoration causes increased elbow stiffness resulting in increased movement velocity, reduced need for glenohumeral compensation, and overall improved motor control. Rehabilitation and surgical restoration should take these kinematic characteristics into account to reinforce proximal and distal compensations allowing elbow extension and grasp using tenodesis and consequently favoring greater autonomy of individuals after SCI.