Inverse Saxophone-A Device to Study the Role of Individual Finger Perturbations on Grasp Stability.

The efficient coordination of fingertip forces to maintain static equilibrium while grasping an object continues to intrigue scientists. While many studies have explored this coordination, most of these studies assumed that interactions of hands primarily occur with rigid inanimate objects. Instead, our daily interactions with living and nonliving entities involve many dynamic, compliant, or fragile bodies. This paper investigates the fingertip force coordination on a manipulandum that changes its shape while grasping it. We designed a five-finger perturbation system with linear actuators at positions corresponding to each finger that would protrude outward from the center of the handle or retract toward the center of the handle as programmed. The behavior of the perturbed fingers and the other fingers while grasping this device was studied. Based on previous experiments on expanding and contracting handles, we hypothesized that each finger would exhibit a comparable response to similar horizontal perturbations. However, the response of the little finger was significantly different from the other fingers. We speculate that the central nervous system demonstrates preferential recruitment of some fingers over others while performing a task.

Support for mechanical advantage hypothesis of grasping cannot be explained only by task mechanics.

Successful object interaction during daily living involves maintaining the grasped object in static equilibrium by properly arranging the fingertip contact forces. According to the mechanical advantage hypothesis of grasping, during torque production tasks, fingers with longer moment arms would produce greater normal force than those with shorter moment arms. Previous studies have probed this hypothesis by investigating the force contributions of individual fingers through systematic variations (or perturbations) of the properties of the grasped handle. In the current study, we examined the validity of this hypothesis in a paradigm wherein the thumb tangential force was constrained to a minimal constant magnitude. This was achieved by placing the thumb on a freely movable slider platform. The total mass of the handle was systematically varied by adding external loads directly below the center of mass of the handle. Our findings suggest that the mechanical advantage hypothesis manifests only during the heaviest loading condition when a threshold difficulty is reached. We infer that the support for the mechanical advantage hypothesis depends not only on the physical parameters but also on the individual ability to manage the task.