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Measurement of Spatial Stability in Precision Grip
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Published on: June 4, 2020

Tangential finger forces use mechanical advantage during static grasping.

Gregory P Slota1, Mark L Latash, Vladimir M Zatsiorsky

  • 1Pennsylvania State University, University Park, PA, USA.

Journal of Applied Biomechanics
|March 21, 2012
PubMed
Summary

The human grasping system uses mechanical advantage to generate tangential forces when manipulating objects. This principle applies regardless of whether a finger acts as a torque agonist or antagonist, enhancing control.

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Area of Science:

  • Biomechanics
  • Human motor control
  • Robotics

Background:

  • The central nervous system uses mechanical advantage of normal forces for torque production during object manipulation.
  • The role of tangential forces and mechanical advantage in grasping control remains largely unexplored.

Purpose of the Study:

  • To investigate finger tangential force patterns during object manipulation with non-uniform finger positioning.
  • To determine if mechanical advantage is utilized as a control mechanism for tangential forces.
  • To analyze the interplay between mechanical advantage, moment arm, and finger roles (agonist/antagonist) in torque generation.

Main Methods:

  • Utilized five 6-degrees-of-freedom (6-df) force/torque transducers to measure finger forces.
  • Subjects grasped a prism handle under normal and modified conditions (single finger displaced).
  • Applied external torques ranging from ±0.4 N m to assess force responses.

Main Results:

  • Increasing the tangential moment arm significantly increased tangential forces in over 70% of trials (p < .01).
  • This indicates the grasping system actively employs mechanical advantage to generate tangential forces.
  • The observed increase in tangential force was additive, irrespective of the finger's agonist or antagonist role.

Conclusions:

  • The grasping system demonstrably utilizes mechanical advantage for generating tangential forces.
  • This control strategy is robust and functions independently of the finger's role in torque opposition or contribution.
  • Findings provide insights into the neural control of grip force and object manipulation.