Grasp stiffness as a function of grasp force and finger span

The purpose of this study was to determine whether direct measurements of grasp stiffness agreed with stiffness inferred from the slopes of isovolitional force-space characteristics derived from previous grasp-effort matching data. Grasp stiffness for three-finger pinch was measured as a function of initial force and finger span using step displacements applied in a do-not-intervene paradigm. Subjects pinched a free-floating, motorized manipulandum in each hand and squeezed both with equal effort; one of the hands was perturbed at random. Stiffness was calculated from the initial and final steady-state values of force and span. The effects of step amplitude, rise-time, and initial load stiffness were investigated; grasp stiffness decreased significantly for larger steps, increased slightly for longer rise-times, and was unaffected by load stiffness. Grasp stiffness then was measured as a function of initial force and span using a single set of step parameters. Stiffness increased significantly in proportion to force but was changed only slightly by span. It was concluded that the perturbation and effort-matching measures of stiffness are not equivalent and represent different components of motor behavior.