Maximum Grip Aperture Research Articles

Distorted shape perception impairs grasping of real objects

textabstractIt is known that visual shape perception is distorted in depth, but it is unclear how this influences grasping. We measured how subjects grasp real cylinders that are placed at eye height under normal lighting conditions. The cylinders were 10cm tall with an elliptical base. One principle axis was always 5cm, whereas the other was varied between 2cm and 8cm in steps of 1cm. The cylinders were placed directly in front of the subject, at a distance of either 15cm or 45cm. Their orientation was varied from 0 to 150 in steps of 30 . Grasping performance was compared with that in a previous study in which the cylinders were placed well below eye height so that subjects had no difficulty judging their shape. We found that subjects are less accurate at matching the orientation of their hand to that of the cylinders when the targets are at eye height. This often led to unstable grasps. Moreover the maximum grip aperture was about 2cm larger when the cylinders were placed at eye height. Nonetheless, the correlation between the hand orientation halfway through the movement and the final hand orientation was already about 70%. The correlation between the grip aperture during the movement and the final grip aperture was only 30% when half the distance was traversed, but it was still only 60% when reaching the object. These results indicate that the grasping movement uses incorrectly specified pick-up locations on the cylinder's surface. Uncertainty makes the subjects increase their grip aperture, but we did not find evidence for increased online control.

A cross-modal interference effect in grasping objects.

The aim of the present paper was to investigate how the kinematics of a hand reaching toward a visual target would be influenced by haptic and proprioceptive input from an unseen distractor actively grasped in the other, nonreaching hand. The main results were that the amplitude of maximum grip aperture was smaller and the time to maximum grip aperture was earlier when the distractor was smaller than the target. The interference effect from the distractor was similar for both hands as they reached. Furthermore, results from a vibrating-distractor condition for passive tactile input revealed that the interference effects were evident only when the distractor was actively grasped. We suggest that neural processing of proprioceptive and tactile information relevant to distractor size produced the observed interference effects. We also emphasize the importance of active manipulation of the distractor stimulus in eliciting such interference effects.

A neural network simulating human reach–grasp coordination by continuous updating of vector positioning commands

We developed a neural network model to simulate temporal coordination of human reaching and grasping under variable initial grip apertures and perturbations of object size and object location/orientation. The proposed model computes reach–grasp trajectories by continuously updating vector positioning commands. The model hypotheses are (1) hand/wrist transport, grip aperture, and hand orientation control modules are coupled by a gating signal that fosters synchronous completion of the three sub-goals. (2) Coupling from transport and orientation velocities to aperture control causes maximum grip apertures that scale with these velocities and exceed object size. (3) Part of the aperture trajectory is attributable to an aperture-reducing passive biomechanical effect that is stronger for larger apertures. (4) Discrepancies between internal representations of targets partially inhibit the gating signal, leading to movement time increases that compensate for perturbations. Simulations of the model replicate key features of human reach–grasp kinematics observed under three experimental protocols. Our results indicate that no precomputation of component movement times is necessary for online temporal coordination of the components of reaching and grasping.

Prehension movements in the macaque monkey: effects of object size and location.

Prehension movements were examined in freely behaving monkeys and compared with the well-known characteristics of human movements. The degree of independence of the components of movements (i.e., reaching and grasping) was investigated in animals trained to reach for and grasp three-dimensional objects. To this aim, the kinematics of prehension movements was recorded using an Optotrak system in two tasks. In one task, monkeys grasped a small or a large object (size task), in the other, they grasped an object of constant size placed at three different spatial locations (location task). We found that object size and its location affected both reaching and grasping. In particular, in the size task, we found that the maximum grip aperture strongly depended on the selection of the grip and not only on the size of an object. Our results also revealed that, in monkeys as well as in humans, the reaching parameters are highly sensitive to task-related constraints such as accuracy demands. The results of the location task showed a difference between rightward and leftward movements, a pattern of grip aperture that varied across animals, and a large degree of coordination between the two components. These findings argue against a strict postulate of independence between the visuo-motor channels, favoring instead the idea of variable degrees of coordination between the reach and grasp components depending on the task demands. Finally, this work emphasizes the relevance of studying monkey's prehension movements as a useful step to the understanding of visuo-motor control in humans.

Monocular Vision Leads to a Dissociation between Grip Force and Grip Aperture Scaling during Reach-to-Grasp Movements

It has been argued that visual perception and the visual control of action depend upon functionally distinct and anatomically separable brain systems [1–3]. Electrophysiological [4] evidence indicates that binocular vision may be particularly important for the visuomotor processing within the posterior parietal cortex, and neuropsychological [5, 6] and psychophysical [7–11] studies confirm that binocular vision is crucial for the accurate planning and control of prehension movements. An unresolved issue concerns the consequences for visuomotor processing of removing binocular vision. By one account, monocular viewing leads to reliance upon pictorial visual cues to calibrate grasping [6] and results in disruption to normal size-constancy mechanisms [6, 7]. This proposal is based on the finding that maximum grip apertures are reduced with monocular vision. By a second account, monocular viewing results in the loss of binocular visual cues and leads to strategic changes in visuomotor processing by way of altered safety margins [9–11]. This proposal is based on the finding that maximum grip apertures are increased with monocular vision. We measured both grip aperture and grip force during prehension movements executed with binocular and monocular viewing. We demonstrate that each of the above accounts may be correct and can be observed within the same task. Specifically, we show that, while grip apertures increase with monocular vision, consistent with altered visuomotor safety margins, maximum grip force is nevertheless reduced, consistent with a misperception of object size. These results are related to differences in visual processing required for calibrating grip aperture and grip force during reaching.

Hand kinematics during reaching and grasping in the macaque monkey

In this paper, we develop an animal model of prehension movements by examining the kinematics of reaching and grasping in monkeys and by comparing the results to published data on humans. Hand movements were recorded in three dimensions in monkeys who were trained to either point at visual targets under unperturbed and perturbed conditions, or to reach and grasp 3-D objects. The results revealed the following three similarities in the hand kinematics of monkey and man. (1) Pointing movements showed an asymmetry depending on target location relative to the hand used; in particular, movements to an ipsilateral target took longer than those to a contralateral one. (2) Perturbation of target location decreased the magnitude of the velocity peak and increased the duration of pointing movements. (3) Reaching to grasp movements displayed a bell-shaped wrist velocity profile and the maximum grip aperture was correlated with object size. These similarities indicate that the macaque monkey can be a useful model for understanding human motor control.

Effects of accuracy constraints on reach-to-grasp movements in cerebellar patients.

Reach-to-grasp movements of patients with pathology restricted to the cerebellum were compared with those of normal controls. Two types of paradigms with different accuracy constraints were used to examine whether cerebellar impairment disrupts the stereotypic relationship between arm transport and grip aperture and whether the variability of this relationship is altered when greater accuracy is required. The movements were made to either a vertical dowel or to a cross bar of a small cross. All subjects were asked to reach for either target at a fast but comfortable speed, grasp the object between the index finger and thumb, and lift it a short distance off the table. In terms of the relationship between arm transport and grip aperture, the control subjects showed a high consistency in grip aperture and wrist velocity profiles from trial to trial for movements to both the dowel and the cross. The relationship between the maximum velocity of the wrist and the time at which grip aperture was maximal during the reach was highly consistent throughout the experiment. In contrast, the time of maximum grip aperture and maximum wrist velocity of the cerebellar patients was quite variable from trial to trial, and the relationship of these measurements also varied considerably. These abnormalities were present regardless of the accuracy requirement. In addition, the cerebellar patients required a significantly longer time to grasp and lift the objects than the control subjects. Furthermore, the patients exhibited a greater grip aperture during reach than the controls. These data indicate that the cerebellum contributes substantially to the coordination of movements required to perform reach-to-grasp movements. Specifically, the cerebellum is critical for executing this behavior with a consistent, well-timed relationship between the transport and grasp components. This contribution is apparent even when accuracy demands are minimal.

More thoughts on perceiving and grasping the Müller–Lyer illusion

It has been suggested that the insensitivity of the visuomotor system to various visual illusions is based on mechanisms in the so-called ‘dorsal stream’ of primate extrastriate cortex, which may depend upon binocular cues for their functions. The present study investigated the effects of binocular and monocular viewing on perception of and action to Müller–Lyer figures. Fourteen participants were required to match and grasp the shaft of a Müller–Lyer display under both viewing conditions. In the matching condition, participants were required to show the perceived extent of the central shaft of one of the two Müller–Lyer figures, using the extent of the gap between their finger and thumb. In the grasping task, participants were required to quickly and accurately reach out and grasp the central shaft of the specified Müller–Lyer figure. First, there was a striking effect of the illusion on the matching performance under both viewing conditions. However, the maximum grip aperture remained unaffected by the illusion figures. These results add to the theory of distinct modes of visual processing for perception and action. However, we did not find that grasping performance was affected by the illusion under monocular conditions. It is plausible that monocular depth cues distinct from those responsible for the illusion can successfully drive accurate grasping. Additional concerns regarding claims of action system resistance to the perceptual distortions of various illusions are discussed.

The effects of delay on the kinematics of grasping.

We examined the effect on manual prehension of introducing a 5-s delay between viewing a target object and initiating a grasping movement. Subjects were tested in four conditions: three involved grasping the object and a fourth involved estimating its size. In the main experimental condition (Open Loop Delay), subjects viewed a target object for 300 ms, but did not initiate a grasping movement until an auditory signal was presented 5 s later. In this condition, subjects had to rely on stored visual information for guiding their grasp after the delay. In another condition (Open Loop), subjects initiated their grasping movement as soon as the target appeared. In both of these open-loop conditions, subjects reached out and grasped the object without seeing their hand. In the third grasping condition (Closed Loop), the target object and the hand were visible throughout the reach. In the three grasping conditions, subjects were instructed to pick up the object across its width using their index finger and thumb. In a final condition (Perceptual Estimation), subjects gave a manual estimate of the object's width with their index finger and thumb after viewing the object for 300 ms. In all four conditions, subjects were presented with a target object in which the height, length and width were independently varied from trial to trial. The results of the experiment indicated that reaching and grasping movements made in the Open-Loop and Closed-Loop conditions did not differ in any kinematic measures. In contrast, when subjects performed in the Open-Loop Delay condition, their reaches took significantly longer and achieved peak velocity proportionately earlier. As well, their maximum grip aperture was significantly larger. In addition, reaching movements in all three grasping conditions were affected by both the object's width (the 'relevant' dimension) and height. The manual estimates in the Perceptual-Estimation condition, however, reflected only the object's width. These results, together with evidence from other studies, suggest that motor actions performed after a delay use different transformations than those used for 'real-time' grasping. We argue that the stored visual information used to drive delayed actions arises from a perceptual rather than a visuomotor analysis of the target object.

The reach-to-grasp movement in Parkinson's disease: response to a simultaneous perturbation of object position and object size.

This study assessed the adaptive response of the reach-to-grasp movement of 12 Parkinson's disease (PD) and 12 control subjects to a simultaneous perturbation of target object location and size. The main aim was to test further the reported dysfunction of PD subjects in the simultaneous activation of movement components. Participants were required to reach 30 cm to grasp a central illuminated cylinder of either small (0.7 cm) or large (8 cm) diameter. For a small percentage of trials (20/100) a visual perturbation was introduced unexpectedly at the onset of the reaching action. This consisted of a shift of illumination from the central cylinder to a cylinder of differing diameter, which was positioned 20 degrees to the left (n = 10) or to the right (n = 10). The subject was required to grasp the newly illuminated cylinder. For the Parkinson's disease subject group, the earliest response to this 'double' perturbation was in the parameter of peak reaching acceleration, which was on average 50 ms earlier for 'double' perturbed than for non-perturbed trials. The grasp component response followed more than 500 ms after the earliest transport response. For the control subjects initial signs of a response to the 'double' perturbation were seen almost simultaneously in the transport parameter of peak arm deceleration, and in the manipulation parameter of maximum grip aperture, but these changes were not evident until more than 400 ms after movement onset. These results indicate that the basal ganglia can be identified as part of a circuit which is involved in the integration of parallel neutral pathways, and which exercise flexibility in the degree to which these components are 'coupled' functionally. With basal ganglia dysfunction the activation of integration centres that at first gate the flow of information to the parallel channels of reach and grasp seems inefficient.

The role of visual feedback of hand position in the control of manual prehension.

Although it is obvious that vision plays a primary role in reaching and grasping objects, the sources of the visual information used in programming and controlling various aspects of these movements is still being investigated. One source of visual information is feedback relating to the characteristics of the reach itself for example, the speed and trajectory of the moving limb and the change in the posture of the hand and fingers. The present study selectively eliminated this source of visual information by blocking the subject's view of the reaching limb with an opaque barrier while still enabling subjects to view the goal object. Thus, a direct comparison was made between standard (closed-loop) and object-only (open-loop) visual-feedback conditions in a situation in which the light levels and contrast between an object and its surroundings were equivalent in both viewing conditions. Reach duration was longer with proportionate increases in both the acceleration and deceleration phases when visual feedback of the reaching limb was prevented. Maximum grip aperture and the proportion of movement time at which it occurred were the same in both conditions. Thus, in contrast to previous studies that did not employ constant light levels across closed- and open-loop reaching conditions, a dissociation was found between the spatial and temporal dimensions of grip formation. It appears that the posture of the hand can be programmed without visual feedback of the hand--presumably via a combination of visual information about the goal object and proprioceptive feedback (and/or efference copy). Nevertheless, maximum grip aperture (like the kinematic markers examined in the transport component) was also delayed when visual feedback of the reaching limb was selectively prevented. In other words, the relative timing of kinematic events was essentially unchanged, reflecting perhaps a tight coupling between the transport and grip components.

Prehension With the Ipsilesional Hand After Unilateral Brain Damage

Sensorimotor deficits in the hand ipsilateral to a brain lesion have been reported in different motor tasks. We evaluated performance of the ipsilesional hand in 12 patients with either left (LBD) or right brain damage (RBD) by kinematic analysis in order to precisely characterize possible deficits in the two components of prehension (transport and grasp). Both patient groups exhibited performance deficits in the main kinematic parameters, e.g., reduced velocity of the transport component and prolonged movement time. However, while LBD patients showed a more general slowing, RBD patients prolonged in particular the last phase of the movement toward the object. We suggest that relevant visuospatial representations and the adequate mapping of motor processes may be impaired after RBD. In contrast, LBD caused a more unspecific disturbance pattern, supporting the view that the precise parameterization of motor programs is impaired. Maximum grip aperture was normal in both patient groups. However, since aperture could be biased by slowed movement, the notion that the grasp component was preserved remains speculative. The patient's ability to scale the maximum velocity of the transport component to adapt to changes in movement amplitude and to scale the maximum hand aperture of the grasp component to adapt to object size was preserved in both groups. Thus both hemispheres can have competence for this scaling mechanism.

Influence of object position and size on human prehension movements

Prehension movements of the right hand were recorded in normal subjects using a computerized motion analyzer. The kinematics and the spatial paths of markers placed at the wrist and at the tips of the index finger and thumb were measured. Cylindrical objects of different diameters (3, 6, 9 cm) were used as targets. They were placed at six different positions in the workspace along a circle centered on subject's head axis. The positions were spaced by 10 degrees starting from 10 degrees on the left of the sagittal axis, up to 40 degrees on the right. Both the transport and the grasp components of prehension were influenced by the distance between the resting hand position and the object position. Movement time, time to peak velocity of the wrist and time to maximum grip aperture varied as a function of distance from the object, irrespective of its size. The variability of the spatial paths of wrist and fingers sharply decreased during the phase of the movement prior to contact with the object. This indicates that the final position of the thumb and the index finger is a controlled parameter of visuomotor transformation during prehension. The orientation of the opposition axis (defined as the line connecting the tips of the thumb and the index finger at the end of the movement) was measured. Several different frames of reference were used. When an object-centered frame was used, the orientation of the opposition axis was found to change by about 10 degrees from one object position to the next. By contrast, when a body-centered frame was used (with the head or the forearm as a reference), this orientation was found to remain relatively invariant for different object positions and sizes. The degree of wrist flexion was little affected by the position of the object. This result, together with the invariant orientation of the opposition axis, shows that prehension movements aimed at cylindrical objects are organized so as to minimize changes in posture of the lower arm.

The bilateral reach-to-grasp movement of Parkinson's disease subjects.

The performance of simultaneous movements is said to be disrupted in Parkinson's disease, yet there are some indications that this dysfunction is less evident for bilateral inter-limb actions, as opposed to unilateral simultaneous actions. Focussing specifically upon natural actions, this study uses a three-dimensional kinematics system (ELITE) to assess the movement kinematics of a bilateral non-homologous reach-to-grasp action. The target device consisted of a large cylinder (diameter 8 cm) to which a handle (diameter 0.8 cm) was attached. The task was to reach and grasp the cylinder with one hand (gross grasp) while reaching to grasp the handle with the contralateral hand (precision grasp). Overall the results indicated that Parkinson's disease subjects, like controls, showed independent and appropriate kinematic parameterization of each limb. For example, and as a reflection of task precision requirements, the time taken to decelerate upon the item to be grasped was longer for the limb grasping the handle than for the limb grasping the cylinder. Subtle indications of compensatory mechanisms, in response to left upper limb inadequacies of Parkinson's disease subjects, were suggested by findings of an earlier timing of maximum hand grip aperture for the left than for the right hand, and adjustments to the final transport phase of the left arm under bilateral conditions. It is proposed that left-right hand differences are more evident with basal ganglia dysfunction, but that these differences are compensated for by CNS mechanisms so that natural non-homologous reach-to-grasp actions are performed in a functional, coordinated and appropriate manner.

Grip reorganization during wrist transport: the influence of an altered aperture.

Past studies have examined the coupling of reach and grasp components during prehensile movements. Many of these studies have supported the view that these components reflect the output of two parallel, though temporally coupled, motor programs. When the grip aperture is Altered prior to the onset of prehension from its usual, normally flexed position to one of maximal finger extension, our previous work has shown that the grasp component appears to reorganize itself during the reach. This reorganization, consisting of a brief closing and reopening of the grip aperture, only slightly influenced the temporal components of the wrist transport. The present experiment continues this research theme by examining the characteristics of grip aperture reorganization through the comparison of the kinematics of prehension components during movements to two different size objects under normal and Altered grip aperture conditions. It was hypothesized that if the grip reorganization is task dependent it should be related to object size. The experiment found that in the Altered grip condition reorganization did occur, as indicated by a slight closing and reopening of the aperture without influencing the transport of the wrist. The amplitude of and the time to the observed inflection point in the aperture time course were related to object size. The velocity of grip closing for the large object showed double peaks, with the first substantially smaller than the second. Moreover, for the small object, the velocity of grip aperture closing also was double peaked, but the difference between peaks was less pronounced. These changes in grip velocity suggest that the grip reorganization is related to object size. No effect of Altered aperture was observed on the transport component. For both object sizes in the Altered condition, the final peak velocity of grip aperture was statistically significantly correlated with transport time and time to peak deceleration. In contrast, such correlations were not observed for the initial peak velocity of the grip aperture. Furthermore, time to maximum grip aperture was correlated with both time to peak wrist velocity and time peak to wrist deceleration. Thus, as the reach progressed toward the object, the grip and transport components became more interdependent. The results are consistent with the notion that, when a well-practiced, coordinated act such as prehension is confronted with an Altered grip posture at the onset of the reach, the grip can be reorganized during the transport to preserve the relative timing between them. Thus these data add to the growing awareness that not only is there temporal coupling between the reach and grasp components but that these components may be integrated by higher-order control mechanism.

Unconscious updating of grasp motor program.

Grasp modification during prehension movements was studied in response to slight variations of somesthetic information about object size. Three experiments were carried out. In experiment 1 eight subjects were required to reach and grasp an object whose size could either increase or decrease, whereas its visual image remained unmodified. The object size was changed during the experiment with uninformed subjects after a block of trials during which visual and somesthetic information were congruent. At the end of the experiment subjects were required to reproduce the size of the object with their fingers (matching test). Results showed that maximal grip aperture during prehension as well as finger aperture in the matching test were modified according to variation in object size, although no subject realized that the object had changed during the experiment. Grasp time was also altered by object size change. Greater and earlier adaptation in maximal grip aperture, as well as perturbation of grasp time, were observed for decrease than for increase in object size. However, complete compensation was never reached for both parameters. Constant confidence in vision could have prevented both complete compensation and conscious detection of object change. This was investigated in two additional experiments. In experiment 2 visual information was made unreliable by informing subjects about variation in grasped object size. This led to greater and earlier modification in maximal grip aperture than in experiment 1. Grasp time was kept almost constant regardless of size variation. In experiment 3 vision of the stimulus was prevented and no information on change in object size was given to subjects. The results of experiment 3 were similar to those of experiment 1, although modification in maximal grip aperture was larger for increase in object size. Correspondingly, grasp time was more affected by increase than by decrease in object size. The results of the three experiments suggest that kinematic parameters usually considered as dependent on object properties, such as maximal grip aperture, were modified in order to compensate perturbation of temporal parameters. This modification induced a "pragmatic" knowledge of object size (as showed by the results of the matching test), although awareness was not reached.

Selective perturbation of visual input during prehension movements

1. Subjects were instructed to reach and grasp cylindrical objects, using a precision grip. The objects were two concentric dowels made of translucent material placed at 35 cm from the subject. The inner ("small") dowel was 10 cm high and 1.5 cm in diameter. The outer ("large") dowel was 6 cm high and 6 cm in diameter. Prehension movements were monitored using a Selspot system. The displacement of a marker placed at the wrist level was used as an index for the transport of the hand at the location of the object. Markers placed at the tips of the thumb and the index finger were used for measuring the size of aperture of the finger grip. 2. Kinematics of transport and grasp components were computed from the filtered displacement signals. Movement time (MT), time to peak velocity (TPV) and time to peak deceleration (TPD) of the wrist, time to peak velocity of grip aperture (TGV), time to maximum grip aperture (TGA) were the main parameters used for comparing the movements in different conditions. Spatial paths of the wrist, thumb and index markers were reconstructed in two dimensions. Variability of the spatial paths over repeated trials was computed as the surface of the ellipses defined by X and Y standard deviations from the mean path. 3. Computer controlled illumination of one of the dowels was the signal for reaching toward that dowel. Blocks of trials were made to the small dowel and to the large dowel. Mean MT during blocked trials was 550 ms. The acceleration phase of the movements (measured by parameter TPV) represented 33% of MT. About half of MT (52%) was spent after TPD in a low velocity phase while the hand was approaching the object. This kinematic pattern was not influenced by whether movements were directed at small or large dowels. 4. Grip aperture progressively increased during transport of the hand. TGA corresponded to about 60% of MT, that is, maximum grip aperture was reached during the low velocity phase of transport. Following TGA, fingers closed around the object until contact was made. This pattern of grip formation differed whether the movement was directed at the large or the small dowel: TGA occurred often earlier for the small dowel, and the size of the maximum grip aperture was larger for the large dowel. Variability of both the wrist and finger spatial paths was larger during the first half of MT, and tended to become very low as the hand approached the dowels.(ABSTRACT TRUNCATED AT 400 WORDS)

Functional relationships between grasp and transport components in a prehension task

Prehension in adults is a highly developed motor skill that affords the study of how components of a movement are coordinated to produce the near endless variety of acts that serve to acquire objects in near body space. This study used three-dimensional movement analysis to describe the kinematic characteristics and coordination of the transport (the reach) and the manipulation (the grasp) components of prehension. Six subjects reached for and grasped 10 different sized wooden disks. Results indicated that the initial phase of the prehension movement could be considered as structured in advance of the movement in that, over the ten disk sizes, time of limb transport was a constant up to peak deceleration. The time after peak deceleration to object contact, however, increased as disk size decreased. This led to the movement trajectories being uniquely shaped for each disk size and as such did not support a proportional duration based model of motor programming. Other findings indicated that maximum grip aperture was reached progressively sooner as disk size was decreased and that maximum grip aperture was highly related to the size of the to-be-grasped disk. In terms of the coordination between the transport and grasp components, support was not found for a temporal linkage between them nor did their coordination appear to be dependent on a motor program. Rather, from an analysis of the spatial variability of the transport and grasp components, evidence was found for supporting the idea that the coordination between these two components was achieved by a sensorimotor process. Through this process, and given the goal of a prehension movement, it was argued that the two components are linked functionally rather than temporally or spatially. These results are discussed in terms of current sensorimotor models of motor control and prehension.