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Grasp stability during manipulative actions

R S Johansson1, K J Cole

  • 1Department of Physiology, University of Umeå, Sweden.

Canadian Journal of Physiology and Pharmacology
|May 1, 1994
PubMed
Summary
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The brain uses anticipatory and sensor-driven control to manage grip forces for stable object manipulation. This ensures precise movements by predicting needs and reacting to sensory feedback, preventing slips.

Area of Science:

  • Neuroscience
  • Biomechanics
  • Robotics

Background:

  • Grasp stability relies on controlling skin-object forces during prehensile actions.
  • Two key actions involve lifting passive objects and stabilizing active ones using a precision grip.

Purpose of the Study:

  • To investigate the neural control mechanisms underlying adequate contact forces for grasp stability.
  • To differentiate between anticipatory parameter control and discrete-event, sensor-driven control in prehensile actions.

Main Methods:

  • Examined fingertip force control for lifting passive objects and preventing movement of active objects.
  • Analyzed the roles of feedforward (anticipatory) and event-driven (sensor-driven) control processes.
  • Investigated how sensory information modifies motor commands and updates sensorimotor memories.

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Main Results:

  • Fingertip forces are governed by anticipatory parameter control (feedforward) and discrete-event, sensor-driven control.
  • Sensory feedback from fingertips modifies motor commands and informs the central nervous system about task progress.
  • Slips are avoided via independent, local control mechanisms for each digit, leading to emergent force coordination.

Conclusions:

  • The central nervous system employs a combination of predictive and reactive control strategies for grasp stability.
  • Discrete-event, sensor-driven control, distinct from continuous feedback, is crucial for managing dynamic interactions.
  • Local control mechanisms for individual digits enable complex manipulation without explicit inter-digit coordination.