Skip to main content
SpringerLink
Log in

Human Grip Responses to Perturbations of Objects During Precision Grip

  • Chapter
  • First Online:
Book cover The Human Hand as an Inspiration for Robot Hand Development

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 95))

Abstract

Grasp stability of a precision grip requires fine control of three-dimensional fingertip forces. This chapter begins with a review of the literature on how precision grip forces are affected by intrinsic object properties, anticipation, load direction, and sensory feedback. Previous studies have established that reactive, initial increases in grip forces (pulse-like “catch-up responses” in grip force rates) are elicited by unexpected translational perturbations and that response latency and strength scale with the direction of linear slip relative to the hand as well as gravity. To determine if catch-up responses are elicited by unexpected rotational perturbations and are strength-, axis-, and/or direction- dependent, we imposed step torque loads about each of two axes which were defined relative to the hand: the distal-proximal axis away from and towards the palm, and the grip axis which connects the two fingertips. First dorsal interosseous activity, marking the start of the catch-up response, began 71–89 ms after the onset of perturbation. Onset latency, shape, and duration (217–231 ms) of the catch-up response were not affected by axis, direction, or magnitude of the rotational perturbation, while strength scaled with axis of rotation and slip conditions. Rotations about the grip axis induced rotational slip at the fingerpads and elicited stronger catch-up responses than rotations about the distal-proximal axis. The chapter concludes with a discussion of this study that, to our knowledge, is the first to investigate grip responses to unexpected torque loads and to show characteristic, yet axis-dependent, catch-up responses for conditions other than pure linear slip.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    Center of pressure could not be determined due to the limited resolution of the force/torque transducers and low normal forces employed by subjects. A calibration experiment concluded that a minimum force of 20 N normal to the grip plate was necessary to calculate a digit’s center of pressure to within 3 mm in the plane of the grip plate.

References

  1. G. Bekey, R. Tomovic, Robot control by reflex actions, in Proceedings of IEEE International Conference on Robotics and Automation, vol. 3 (1986), pp. 240–247

    Google Scholar 

  2. M. Santello, M. Flanders, J.F. Soechting, Postural hand synergies for tool use. J. Neurosci. 18(23), 10105–10115 (1998)

    Google Scholar 

  3. P.K. Allen, M.T. Ciocarlie, C. Goldfeder, H. Dang, Low-dimensional data-driven grasping, in Proceedings of the Robotics Science and Systems Conference, ( Seattle, WA, 2009)

    Google Scholar 

  4. M.H. Lee, H.R. Nicholls, Tactile sensing for mechatronics—a state of the art survey. Mechatronics 9(1), 1–31 (1999)

    Article  MathSciNet  Google Scholar 

  5. B.D. Argall, A.G. Billard, A survey of tactile human–robot interactions. Robotics Auton. Syst. 58(10), 1159–1176 (2010)

    Article  Google Scholar 

  6. H. Yousef, M. Boukallel, and K. Althoefer, Tactile sensing for dexterous in-hand manipulation in robotics, a review. Sens. Actuators A: Phys 167(2), 171–187 2011

    Google Scholar 

  7. J. R. Napier, The prehensile movements of the human hand. J Bone Joint Surg Br 38-B(4), 902–913 (1956)

    Google Scholar 

  8. D. Prattichizzo, J.C. Trinkle, in “Grasping,” in Springer Handbook of Robotics, ed. by B. Siciliano, O. Khatib (Springer, Heidelberg, 2008), pp. 671–700

    Google Scholar 

  9. R.S. Johansson, J.R. Flanagan, in “Tactile sensory control of object manipulation in humans,” in Handbook of the Senses, vol. 6, eds. by J.H. Kaas, E. Gardner. Somatosensation, (Academic Press, San Diego, 2008), pp. 67–86

    Google Scholar 

  10. R.S. Johansson, J.R. Flanagan, Coding and Use of Tactile Signals from the Fingertips in Object Manipulation Tasks. Nature Rev. Neurosci. 10, 345–359 (2009)

    Google Scholar 

  11. R.S. Johansson, Sensory control of dextrous manipulation in humans, in in Hand and brain: the neurophysiology and psychology of hand movements, ed. by A.M. Wing, P. Haggard, J.R. Flanagan (Academic, San Diego, 1996), pp. 381–414

    Google Scholar 

  12. M. De Gregorio, V.J. Santos, Precision grip responses to unexpected rotational perturbations scale with axis of rotation. J. Biomech. 46(6), 1098–1103 (2013)

    Article  Google Scholar 

  13. G. Westling, R.S. Johansson, Factors influencing the force control during precision grip. Exp. Brain Res. 53(2), 277–284 (1984)

    Article  Google Scholar 

  14. H. Kinoshita, L. Bäckström, J.R. Flanagan, R.S. Johansson, Tangential torque effects on the control of grip forces when holding objects with a precision grip. J. Neurophysiol. 78(3), 1619–1630 (1997)

    Google Scholar 

  15. R.S. Johansson, G. Westling, Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects. Exp. Brain Res. 56(3), 550–564 (1984)

    Article  Google Scholar 

  16. R.S. Johansson, G. Westling, Programmed and triggered actions to rapid load changes during precision grip. Exp. Brain Res. 71(1), 72–86 (1988)

    Google Scholar 

  17. P. Jenmalm, R.S. Johansson, Visual and somatosensory information about object shape control manipulative fingertip forces. J. Neurosci. 17(11), 4486–4499 (1997)

    Google Scholar 

  18. A.W. Goodwin, P. Jenmalm, R.S. Johansson, Control of grip force when tilting objects: effect of curvature of grasped surfaces and applied tangential torque. J. Neurosci. 18(24), 10724–10734 (1998)

    Google Scholar 

  19. P. Jenmalm, S. Dahlstedt, R.S. Johansson, Visual and tactile information about object-curvature control fingertip forces and grasp kinematics in human dexterous manipulation. J. Neurophysiol. 84(6), 2984–2997 (2000)

    Google Scholar 

  20. P. Jenmalm, A.W. Goodwin, R.S. Johansson, Control of grasp stability when humans lift objects with different surface curvatures. J. Neurophysiol. 79(4), 1643–1652 (1998)

    Google Scholar 

  21. J.R. Flanagan, M.C. Bowman, R.S. Johansson, Control strategies in object manipulation tasks. Curr. Opin. Neurobiol. 16(6), 650–659 (2006)

    Article  Google Scholar 

  22. A.M. Wing, J.R. Flanagan, Anticipating dynamic loads in handling objects, in Proceedings of the ASME Dynamic Systems and Control Division, vol. 64 (1998), pp. 139–143

    Google Scholar 

  23. R.S. Johansson, R. Riso, C. Häger, L. Bäckström, Somatosensory control of precision grip during unpredictable pulling loads. I. changes in load force amplitude. Exp. Brain Res. 89(1), 181–191 (1992)

    Article  Google Scholar 

  24. R.S. Johansson, C. Häger, R. Riso, Somatosensory control of precision grip during unpredictable pulling loads. II. Changes in load force rate. Exp. Brain Res. 89(1), 192–203 (1992)

    Article  Google Scholar 

  25. K.J. Cole, J.H. Abbs, Grip force adjustments evoked by load force perturbations of a grasped object. J. Neurophysiol. 60(4), 1513–1522 (1988)

    Google Scholar 

  26. R.S. Johansson, C. Häger, L. Bäckström, Somatosensory control of precision grip during unpredictable pulling loads. III. Impairments during digital anesthesia. Exp. Brain Res. 89(1), 204 (1992)

    Article  Google Scholar 

  27. K.J. Cole, R.S. Johansson, Friction at the digit-object interface scales the sensorimotor transformation for grip responses to pulling loads. Exp. Brain Res. 95(3), 523–532 (1993)

    Article  Google Scholar 

  28. R.S. Johansson, K.J. Cole, Grasp stability during manipulative actions. Can. J. Physiol. Pharmacol. 72(5), 511–524 (1994)

    Article  Google Scholar 

  29. C. Häger-Ross, R.S. Johansson, Nondigital afferent input in reactive control of fingertip forces during precision grip. Exp. Brain Res. 110(1), 131–141 (1996)

    Google Scholar 

  30. L.A. Jones, I.W. Hunter, Changes in pinch force with bidirectional load forces. J. Mot. Behav. 24(2), 157–164 (1992)

    Article  Google Scholar 

  31. C. Häger-Ross, K.J. Cole, R.S. Johansson, Grip-force responses to unanticipated object loading: load direction reveals body-and gravity-referenced intrinsic task variables. Exp. Brain Res. 110(1), 142–150 (1996)

    Google Scholar 

  32. A.M. Gordon, H. Forssberg, R.S. Johansson, G. Westling, Integration of sensory information during the programming of precision grip: comments on the contributions of size cues. Exp Brain Res. 85(1), 226–229 (1991)

    Google Scholar 

  33. A.M. Gordon, G. Westling, K.J. Cole, R.S. Johansson, Memory representations underlying motor commands used during manipulation of common and novel objects. J. Neurophysiol. 69(6), 1789–1796 (1993)

    Google Scholar 

  34. V.G. Macefield, R.S. Johansson, Control of grip force during restraint of an object held between finger and thumb: responses of muscle and joint afferents from the digits. Exp. Brain Res. 108(1), 172–184 (1996)

    Google Scholar 

  35. R.S. Johansson, G. Westling, Signals in tactile afferents from the fingers eliciting adaptive motor responses during precision grip. Exp. Brain Res. 66, 141–154 (1987)

    Article  Google Scholar 

  36. V.G. Macefield, C. Häger-Ross, R.S. Johansson, Control of grip force during restraint of an object held between finger and thumb: responses of cutaneous afferents from the digits. Exp. Brain Res. 108(1), 155–171 (1996)

    Google Scholar 

  37. B.B. Edin, G. Westling, R.S. Johansson, Independent control of human finger-tip forces at individual digits during precision lifting. J. Physiol. (Lond.) 450, 547–564 (1992)

    Google Scholar 

  38. G. Westling, R.S. Johansson, Responses in glabrous skin mechanoreceptors during precision grip in humans. Exp. Brain Res. 66(1), 128–140 (1987)

    Article  Google Scholar 

  39. R.S. Johansson, J.L. Backlin, M.K. Burstedt, Control of grasp stability during pronation and supination movements. Exp. Brain Res. 128(1), 20–30 (1999)

    Article  Google Scholar 

  40. K. Jordan, K. Newell, Task goal and grip force dynamics. Exp. Brain Res. 156(4), 451–457 (2004)

    Article  Google Scholar 

  41. P.W. Hodges, B.H. Bui, A comparison of computer-based methods for the determination of onset of muscle contraction using electromyography. Electroen Clin Neuro 101, 511–519 (1996)

    Article  Google Scholar 

  42. R.P. Di Fabio, Reliability of computerized surface electromyography for determining the onset of muscle activity. Phys. Ther. 67(1), 43–48 (1987)

    Google Scholar 

  43. F.E. Zajac, Muscle and tendon: Properties, models. scaling, and application to biomechanics and motor control. Crit. Rev. Biomed. Eng. 17(4), 359–411 (1989)

    Google Scholar 

  44. D.T. Pawluk, R.D. Howe, Dynamic lumped element response of the human fingerpad. J. Biomech. Eng. 121(2), 178–183 (1999)

    Article  Google Scholar 

  45. S.W. Lee, H. Chen, D.G. Kamper, Transmission of musculotendon forces to the index finger, in Proceeding of the Robotics Science and Systems Conference, Seattle, WA, 2009

    Google Scholar 

  46. P.H. Kuo, A.D. Deshpande, Contribution of passive properties of muscle-tendon units to the metacarpophalangeal joint torque of the index finger, in Proceedingsof the IEEE International Conference on Biomedical Robotics and Biomechatronics, 2010, pp. 288–294

    Google Scholar 

  47. Q. Fu, W. Zhang, M. Santello, Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation. J. Neurosci. 30(27), 9117–9126 (2010)

    Article  Google Scholar 

  48. P.B. Matthews, Evidence from the use of vibration that the human long-latency stretch reflex depends upon spindle secondary afferents. J. Physiol. 348(1), 383 (1984)

    Google Scholar 

  49. C.D. Marsden, P.A. Merton, H.B. Morton, Stretch reflex and servo action in a variety of human muscles. J. Physiol. 259(2), 531–560 (1976)

    Google Scholar 

  50. P.B. Matthews, The contrasting stretch reflex responses of the long and short flexor muscles of the human thumb. J. Physiol. 348(1), 545–558 (1984)

    Google Scholar 

  51. A.F. Thilmann, M. Schwarz, R. Töpper, S.J. Fellows, J. Noth, Different mechanisms underlie the long-latency stretch reflex response of active human muscle at different joints. J. Physiol. 444(1), 631 (1991)

    Google Scholar 

  52. T.I.H. Brown, P.M.H. Rack, H.F. Ross, A range of different stretch reflex responses in the human thumb. J. Physiol. 332(1), 101 (1982)

    Google Scholar 

  53. E. Bizzi, P. Dev, P. Morasso, A. Polit, Effect of load disturbances during centrally initiated movements. J. Neurophysiol. 41(3), 542 (1978)

    Google Scholar 

  54. M. De Gregorio, V.J. Santos, Rotational object perturbations result in characteristic types of kinematic grip responses. Proc Ann Mtg Amer Soc Biomech, Providence, RI, 2010

    Google Scholar 

Download references

Acknowledgments

The authors gratefully acknowledge Kevin Bair, Nicholas Fette, and Ryan Manis for assistance with data collection and processing, Dr. Kevin Keenan for guidance in the EMG analysis, and Dr. Marco Santello, Dr. Stephen Helms Tillery, Dr. Marco Davare, and Qiushi Fu for technical discussions.

Funding This material is based upon work supported by the National Science Foundation under Grant No. 0954254. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.

Author information

Authors and Affiliations

  1. Mechanical and Aerospace Engineering, Arizona State University, Tempe, AZ, USA

    Michael De Gregorio & Veronica J. Santos

Authors
  1. Michael De Gregorio
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Veronica J. Santos
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Veronica J. Santos .

Editor information

Editors and Affiliations

  1. Oregon State University, Corvallis, Oregon, USA

    Ravi Balasubramanian

  2. Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona, USA

    Veronica J. Santos

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer International Publishing Switzerland

About this chapter

Cite this chapter

De Gregorio, M., Santos, V.J. (2014). Human Grip Responses to Perturbations of Objects During Precision Grip. In: Balasubramanian, R., Santos, V. (eds) The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_8

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-03017-3_8

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03016-6

  • Online ISBN: 978-3-319-03017-3

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation