Multi-finger prehension

Control of a redundant mechanical system

Mark Latash, Vladimir M. Zatsiorsky

Research output: Chapter in Book/Report/Conference proceedingChapter

25 Citations (Scopus)

Abstract

The human hand has been a fascinating object of study for researchers in both biomechanics and motor control. Studies of human prehension have contributed significantly to the progress in addressing the famous problem of motor redundancy. After a brief review of the hand mechanics, we present results of recent studies that support a general view that the apparently redundant design of the hand is not a source of computational problems but a rich apparatus that allows performing a variety of tasks in a reliable and flexible way (the principle of abundance). Multi-digit synergies have been analyzed at two levels of a hypothetical hierarchy involved in the control of prehensile actions. At the upper level, forces and moments produced by the thumb and virtual finger (an imagined finger with a mechanical action equal to the combined mechanical action of all four fingers of the hand) co-vary to stabilize the gripping action and the orientation of the hand-held object. These results support the principle of superposition suggested earlier in robotics with respect to the control of artificial grippers. At the lower level of the hierarchy, forces and moments produced by individual fingers co-vary to stabilize the magnitude and direction of the force vector and the moment of force produced by the virtual finger. Adjustments to changes in task constraints (such as, for example, friction under individual digits) may be local and synergic. The latter reflect multi-digit prehension synergies and may be analyzed with the so-called chain effects: Sequences of relatively straightforward cause-effect links directly related to mechanical constraints leading to non-trivial strong co-variation between pairs of elemental variables. Analysis of grip force adjustments during motion of hand-held objects suggests that the central nervous system adjusts to gravitational and inertial loads differently. The human hand is a gold mine for researchers interested in the control of natural human movements.

Original languageEnglish (US)
Title of host publicationProgress in Motor Control
Subtitle of host publicationA Multidisciplinary Perspective
EditorsDagmar Sternad
Pages597-618
Number of pages22
DOIs
StatePublished - Dec 1 2009

Publication series

NameAdvances in Experimental Medicine and Biology
Volume629
ISSN (Print)0065-2598

Fingerprint

Fingers
Hand
Gold mines
Grippers
Biomechanics
Neurology
Redundancy
Research Personnel
Mechanics
Robotics
Friction
Thumb
Hand Strength
Biomechanical Phenomena
Gold
Central Nervous System

All Science Journal Classification (ASJC) codes

  • Biochemistry, Genetics and Molecular Biology(all)

Cite this

Latash, M., & Zatsiorsky, V. M. (2009). Multi-finger prehension: Control of a redundant mechanical system. In D. Sternad (Ed.), Progress in Motor Control: A Multidisciplinary Perspective (pp. 597-618). (Advances in Experimental Medicine and Biology; Vol. 629). https://doi.org/10.1007/978-0-387-77064-2_32
Latash, Mark ; Zatsiorsky, Vladimir M. / Multi-finger prehension : Control of a redundant mechanical system. Progress in Motor Control: A Multidisciplinary Perspective. editor / Dagmar Sternad. 2009. pp. 597-618 (Advances in Experimental Medicine and Biology).
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Latash, M & Zatsiorsky, VM 2009, Multi-finger prehension: Control of a redundant mechanical system. in D Sternad (ed.), Progress in Motor Control: A Multidisciplinary Perspective. Advances in Experimental Medicine and Biology, vol. 629, pp. 597-618. https://doi.org/10.1007/978-0-387-77064-2_32

Multi-finger prehension : Control of a redundant mechanical system. / Latash, Mark; Zatsiorsky, Vladimir M.

Progress in Motor Control: A Multidisciplinary Perspective. ed. / Dagmar Sternad. 2009. p. 597-618 (Advances in Experimental Medicine and Biology; Vol. 629).

Research output: Chapter in Book/Report/Conference proceedingChapter

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Latash M, Zatsiorsky VM. Multi-finger prehension: Control of a redundant mechanical system. In Sternad D, editor, Progress in Motor Control: A Multidisciplinary Perspective. 2009. p. 597-618. (Advances in Experimental Medicine and Biology). https://doi.org/10.1007/978-0-387-77064-2_32