Advertisement

Experimental Brain Research

, Volume 196, Issue 4, pp 497–509 | Cite as

Trajectory of the index finger during grasping

  • Jason Friedman
  • Tamar Flash
Research article

Abstract

The trajectory of the index finger during grasping movements was compared to the trajectories predicted by three optimization-based models. The three models consisted of minimizing the integral of the weighted squared joint derivatives along the path (inertia-like cost), minimizing torque change, and minimizing angular jerk. Of the three models, it was observed that the path of the fingertip and the joint trajectories, were best described by the minimum angular jerk model. This model, which does not take into account the dynamics of the finger, performed equally well when the inertia of the finger was altered by adding a 20 g weight to the medial phalange. Thus, for the finger, it appears that trajectories are planned based primarily on kinematic considerations at a joint level.

Keywords

Finger Kinematics Trajectory Grasping 

Notes

Acknowledgments

This research was supported in part by the German–Israeli Project Cooperation (DIP) and by the Moross Laboratory at the Weizmann Institute of Science. Tamar Flash is an incumbent of the Dr. Hymie Morros Professorial chair. We thank Armin Biess for his assistance in generating the predicted trajectories.

References

  1. Berkinblit M, Gelfand I, Feldman A (1986) Model of the control of the movements of a multijoint limb. Biophysics 31:142–153Google Scholar
  2. Biess A, Nagurka M, Flash T (2006) Simulating discrete and rhythmic multi-joint human arm movements by optimization of nonlinear performance indices. Biol Cybern 95:31–53PubMedCrossRefGoogle Scholar
  3. Biess A, Liebermann D, Flash T (2007) A computational model for redundant human three-dimensional pointing movements: integration of independent spatial and temporal motor plans simplifies movement dynamics. J Neurosci 27:13045–13064PubMedCrossRefGoogle Scholar
  4. Cruz E, Kamper D (2006) Kinematics of point-to-point finger movements. Exp Brain Res 174:29–34PubMedCrossRefGoogle Scholar
  5. Dejmal I, Zacksenhouse M (2006) Coordinative structure of manipulative hand-movements facilitates their recognition. IEEE Trans Biomed Eng 53:2455–2463PubMedCrossRefGoogle Scholar
  6. Dempster W (1955) Space requirements of the seated operator. Technical Report WADC-TR-55-159, Aerospace Medical Research Laboratories, Wright-Patterson Air Force Base, OHGoogle Scholar
  7. Flanagan J, Ostry D (1989) Trajectories of human multi-joint arm movements: evidence of joint level planning. In: Hayward V, Khatib O (eds) Experimental robotics I. Lecture Notes in Control and Information Sciences. Springer, Germany, pp 594–613Google Scholar
  8. Flash T (1987) The control of hand equilibrium trajectories in multi-joint arm movements. Biol Cybern 57:257–274PubMedCrossRefGoogle Scholar
  9. Flash T, Hogan N (1985) The coordination of arm movements: an experimentally confirmed mathematical model. J Neurosci 5:1688–1703PubMedGoogle Scholar
  10. Friedman J (2007) Features of human grasping. PhD thesis, Weizmann Institute of Science, IsraelGoogle Scholar
  11. Friedman J, Flash T (2007) Task-dependent selection of grasp kinematics and stiffness in human object manipulation. Cortex 43:444–460PubMedCrossRefGoogle Scholar
  12. Gupta A, Rash GS, Somia NN, Wachowiak MP, Jones J, Desoky A (1998) The motion path of the digits. J Hand Surg 23A:1038–1042Google Scholar
  13. Hahn P, Krimmer H, Hradetzky A, Lanz U (1995) Quantitative analysis of the linkage between the interphalangeal joints of the index finger. J Hand Surg 20B:696–699Google Scholar
  14. Hermens F, Gielen S (2004) Posture-based or trajectory-based movement planning: a comparison of direct and indirect pointing movements. Exp Brain Res 159:340–348PubMedCrossRefGoogle Scholar
  15. Jeannerod M (1981) Intersegmental coordination during reaching at natural visual objects. In: Long J, Baddeley A (eds) Attention and performance IX, Lawrence Erlbaum Associates, Philadelphia, pp 153–169Google Scholar
  16. Kamper D, Cruz E, Siegel M (2003) Stereotypical fingertip trajectories during grasp. J Neurophysiol 90:3702–3710PubMedCrossRefGoogle Scholar
  17. Laczko J, Jaric S, Tihanyi J, Zatsiorsky V, Latash M (2000) Components of the end-effector jerk during voluntary arm movements. J Appl Biomech 16:14–25Google Scholar
  18. Littler JW (1973) On the adaptability of man’s hand (with reference to the equiangular curve). Hand 5:187–191PubMedCrossRefGoogle Scholar
  19. Mason C, Gomez J, Ebner T (2001) Hand synergies during reach-to-grasp. J Neurophysiol 86:2896–2910PubMedGoogle Scholar
  20. Murray R, Li Z, Sastry S (1994) A mathematical introduction to robotic manipulation. CRC Press, Boca RatonGoogle Scholar
  21. Nakano E, Imamizu H, Osu R, Uno Y, Gomi H, Yoshioka T, Kawato M (1999) Quantitative examinations of internal representations for arm trajectory planning: minimum commanded torque change model. J Neurophysiol 81:2140–2155PubMedGoogle Scholar
  22. Norkin CC, Levangie PK (1992) Joint structure and function. A comprehensive analysis, 2nd edn. F.A. Davis Company, PhiladelphiaGoogle Scholar
  23. Okadome T, Honda M (1999) Kinematic construction of the trajectory of sequential arm movements. Biol Cybern 80:157–169PubMedCrossRefGoogle Scholar
  24. Rosenbaum D, Meulenbroek R, Vaughan J, Jansen C (2001) Posture-based motion planning: applications to grasping. Psychol Rev 108:709–734PubMedCrossRefGoogle Scholar
  25. Santello M, Flanders M, Soechting J (2002) Patterns of hand motion during grasping and the influence of sensory guidance. J Neurosci 22:1426–1435PubMedGoogle Scholar
  26. Scheidt RA, Ghez C (2007) Separate adaptive mechanisms for controlling trajectory and final position in reaching. J Neurophysiol 98:3600–3613PubMedCrossRefGoogle Scholar
  27. Secco E, Visiolo A, Magenes G (2004) Minimum jerk motion planning for a prosthetic finger. J Robotic Syst 21:361–368CrossRefGoogle Scholar
  28. Smeets J, Brenner E (1999) A new view on grasping. Motor Control 3:237–271PubMedGoogle Scholar
  29. Soechting J, Lacquaniti F (1981) Invariant characteristics of a pointing movement in man. J Neurosci 1:710–720PubMedGoogle Scholar
  30. Soechting J, Buneo C, Herrmann U, Flanders M (1995) Moving effortlessly in three dimensions: does Donder’s law apply to arm movement? J Neurosci 15:6271–6290PubMedGoogle Scholar
  31. Uno Y, Kawato M, Suzuki R (1989) Formation and control of optimal trajectory in human multijoint arm movement. Biol Cybern 61:89–101PubMedCrossRefGoogle Scholar
  32. Wada Y, Kaneko Y, Nakano E, Osu R, Kawato M (2001) Quantitative examinations for multi joint arm trajectory planning—using a robust calculation algorithm of the minimum commanded torque change trajectory. Neural Netw 14:381–393PubMedCrossRefGoogle Scholar

Copyright information

© Springer-Verlag 2009

Authors and Affiliations

  1. 1.Department of Computer Science and Applied MathematicsWeizmann Institute of ScienceRehovotIsrael
  2. 2.Macquarie Centre for Cognitive ScienceMacquarie UniversitySydneyAustralia

Personalised recommendations