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Introduction
Kinematic Analysis Systems
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Physics
Classical Mechanics

Kinematic assessment of grasping

Profile image of Umberto CastielloUmberto Castiello

2009, Cambridge University Press eBooks

https://doi.org/10.1017/CBO9780511581267.003
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14 pages

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Abstract

Research on grasping kinematics has proved to be parlicularly insightful in revealing important aspects of the motor control and selection processes underlying the control of hand action. The aim of this chapter is to provide a synthetic overview of the main kinematic techliques which have been utilized for describing and quantiflzing grasping movements. The first part of the chapter includes a brief description of the basic kinematic principles' The second part focuses on the main techniques used to perform kinematic analysis of grasping movements. Specifically, it describes video. optoelectronic, and sensor bending techniques. The third part is concemed r.r,ith a brief revieu' ol srudies which have characterized the kinematics olgrasping not only in healthy adults but also in developmental, neuropsychological and comparatir.e research. We conclude the chapter by discussing recent research issues and technical approaches u,hich have recently started to emerge.

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This work presents a novel haptic device to study human grasp, which integrates different technological solutions thus enabling, for the first time, to achieve: (i) a complete grasp characterization in terms of contact forces and moments; (ii) an estimation of contact point location for varying-orientation contact surfaces; (iii) a compensation of force/torque offsets and estimation of the mass and center of mass of the device, for different orientations and configurations in the workspace; (iv) different stiffness properties for the contact points, i.e. rigid, compliant non-deformable and compliant deformable, thus allowing to study the effects of cutaneous cues in multi-finger grasps. In addition, given the modularity of the architecture and the simple mechanism to attach/detach the contact modules, this structure can be easily modified in order to analyze different multi-finger grasp configurations. The effectiveness of this device was experimentally demonstrated and applications to neuroscientific studies and state of the art of devices for similar investigations are discussed in depth within the text.

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A Comparison of the Reach-To-Grasp Movement Between Children and Adults: A Kinematic Study
Maria Bulgheroni, Umberto Castiello

Developmental Neuropsychology, 2006

In this study, the reach-to-grasp movement of 5-year-old children was compared to that of adults. Participants were required to reach out and grasp objects, with and without on-line visual feedback. Object size and distance were covaried in a within-subjects design and it was found that for both groups, grip formation and reach kinematics were affected by the manipulation of either variable. Although there are a large number of similarities, a few differences between the two groups emerge. For the reaching component, the children revealed a longer movement duration and deceleration time and a lower maximum height of wrist trajectory than in adults. For the grasp component, the children, in both the vision and no-vision condition, show a maximal finger aperture larger than the adults. Further, the children of this study were able to scale their grip aperture according to object size when visual feedback during the movement was lacking. These findings suggest that children adopt different strategies than adults when planning a reach-to-grasp movement on the basis of object size, distance, and the predictability of visual feedback. The results are discussed in terms of the neural mechanisms underlying hand action and how these mechanisms may not be fully developed by the age of 5.

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A device that provides quantitative assessment of the grasping function and allows the grasping function improvements to be monitored over time can potentially be very useful for hand surgeons, physiotherapists and occupational therapists. A Dynamic Grasping Assessment System (DGAS) that is capable of measuring finger forces during wrist extension, flexion, adduction and abduction was developed. The DGAS can measure forces for each individual finger in the range from 0 to 125 N with accuracy of ± 0.5 N, and can measure the wrist extension/flexion angle and the wrist ulnar/radial abduction angle with an accuracy of ± 0.25 deg. Furthermore the DGAS is capable of generating resistive torque during the wrist motion and allows to assess finger forces during wrist motion against resistive load. The DGAS can provide the following data: (1) finger forces as a function of time, wrist angle, wrist angular velocity and resistive load;

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The bilateral reach to grasp movement
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This study investigated the kinematic organization of bilateral reach to grasp movements. In Experiment 1 non-homologous bilateral movements were performed. One limb reached to grasp an object using whole hand prehension; the contralateral limb simultaneously reached to grasp an object using precision grip. Corresponding unilateral movements were assessed. Movement duration for each limb in the bilateral condition was similar. However, with earlier temporal settings for peak wrist acceleration and velocity, the limb performing precision grip showed a longer approach (deceleration) phase to the object. Unilateral precision grip movements showed a longer movement duration and deceleration phase than unilateral whole hand prehension movements. In Experiment 2 homologous bilateral movements were assessed. Both limbs performed either a reach and whole hand prehension or a reach and precision grip. Again the precision grip movements showed longer movement and deceleration times. Experiment 3 consisted of bilateral non-homologous pointing movements and a pointing movement with one limb while reaching to grasp with the contralateral limb. It was found that the earlier temporal settings of peak acceleration and velocity with the precision grip limb of the non-homologous bilateral task (Expt. 1) were largely due to the performance of distal grasping actions. It is concluded that a kinematic parameterization which is independent to each limb is evident for bilateral tasks which require functionally independent actions.

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The goal of this study was to elucidate the underlying mechanisms of hand and tool grasping control. We assumed that there is a single principle-governing grasping control irrespective of its effectors and that the degree of prior experience of the effector determines the smoothness of aperture control. Eight participants performed a reach-to-grasp task with four different effectors: index finger and thumb, middle finger and thumb, chopsticks, and a scissor-like tool. Although we employed different effectors with large mechanical variations and different degrees of prior use, maximum grip aperture was scaled as a function of object size and appeared at almost the same timing in all four types of grasping movements. Moreover, reaching time did not substantially differ among grasping conditions. However, plateau duration of the aperture profile differed by effector. Plateau duration was the longest in the unfamiliar scissor-like tool grasping condition. There was no difference between...

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Collision-Avoidance Characteristics of Grasping. Early Signs in Hand and Arm Kinematics
J. Lommertzen

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Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study fo- cuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped vertically-oriented cylinders of various heights, starting from two starting positions and performing the task at two different speeds. Movements of trunk, arm and hand were recorded by means of a 3D motion-tracking system. The results show that cylinder-height moder- ated the approach phase as expected: small cylinders induced grasps from above whereas large cylinders elicited grasps from the side. The collision-avoidance constraint proved not only to be accommodated by aperture overshoots but its effects already showed up early on as differ- ential adaptations of the distal upper limb parameters. We discuss some implications of the present analysis of grasping movements for designing anthropomorphic ...

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Experimental protocol for the kinematic analysis of the hand: Definition and repeatability
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Gait & Posture, 2006

A quantitative and objective method based on the optoelectronic kinematic analysis of hand segments and on the calculation of global and partial parameters, which provide measures of the degree of long finger and thumb extension is proposed for the evaluation of the hand's voluntary range of motion and maximal opening of the fingers and thumb. To test the precision and repeatability of the method, the protocol was applied on 14 healthy subjects (28 hands). The proposed parameters are repeatable and show a precision between 5.58 and 10.48 (mean value: 7.38), comparable to values obtained with other methods. Advantages of the present approach include simultaneous analysis of all fingers, absence of cumbersome connecting cables and no need for individually customized devices. The method, also applied to the paretic hands of two hemiplegic stroke patients before and after electrical stimulation of the wrist and finger extensor muscles, has shown encouraging results for its clinical feasibility and utility in addition to functional tests. #

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Two instrumented objects have been developed for quantitative assessment of functional tasks performed with the hand. These objects are useful for assessing neuroprosthetic hand grasp systems, and may also be useful in evaluating a variety of other upper limb disabilities and rehabilitation techniques. One object monitors grasp forced and object orientation during palmar prehension, allowing simulation of a drinking task or of manipulating a book. The second object monitors grasp force during lateral prehension for simulating eating or writing tasks. The two objects provide tools to analyze how a subject uses a hand grasp neuroprosthesis to perform activities of daily living. The objects will also be useful in comparing different methods of controlling the neuroprosthesis and in evaluating future changes in the neuroprosthetic system. Assessment trials with these two instrumented objects were performed quickly in an outpatient clinic setting.

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