The influence of obstacles on grasp planning.

When reaching to grasp for an object in the absence of obstacles, the choice of contact points is highly consistent within and between healthy humans, suggesting a preplanning of grasping movements (Gilster et al. in Exp Brain Res 217:137-151, 2012). In real life, objects may obstruct the favored contact points at a target object, requiring adjustments to avoid collision. In the present study, we investigated how an obstacle that directly obstructs the favored contact points for two-digit grasping changes the planning and execution of reach-to-grasp movements. Furthermore, we elucidated to what extent an obstacle placed at various angular positions around the target object (thereby not directly obstructing the favored contact points) still influences trajectories, contact points, and time-related parameters. When obstacles directly obstructed favored contact points participants either chose a completely new contact point or grasped the object only slightly away from the favored contact point. Obstacles located near the favored contact points but not directly obstructing them still resulted in a repulsive effect, meaning that contact points were shifted away from the obstacle to ensure sufficient distance to the obstacle. We found that the position of an obstacle even influences the direction in which the fingers set off. This leads to a deviation of the trajectory very early in the time course, yielding longer movement times if the main contact points are obstructed. Taken together, the early significant influence of obstacles on the grasping movement supports the assumption that grasping movements are preplanned.

Contact points during multidigit grasping of geometric objects.

We investigated the choice of contact points during multidigit grasping of different objects. In Experiment 1, cylinders were grasped and lifted. Participants were either instructed as to the number of fingers they should use, ranging from a two-finger grasp to a five-finger grasp, or could grasp with their preferred number of fingers. We found a strong relationship between the position of the fingertips on the object and the number of fingers used. In general, variability in the choice of contact points was low within- as well as between participants. The virtual finger, defined as the geometric mean position of fingers opposing the thumb, was in almost perfect opposition to the thumb, suggesting the formation of a functional unit using all contributing fingers in the grasp. In Experiment 2, four more complex shapes (rectangle, hexagon, pentagon, curved object) were grasped. Although we found some moderate between-participant variability in the choice of contact points, the within-participant variability was again remarkably low. In both experiments, participants showed a strong preference to use four or five fingers during grasping when left with free choice. Taken together, our findings suggest a preplanning of the grasping movement and that grasping results from a coordinated interplay between the fingers contributing to the grasp that cannot be understood as independent digit movements.

Thermoreception and nociception of the skin: a classic paper of Bessou and Perl and analyses of thermal sensitivity during a student laboratory exercise.

About four decades ago, Perl and collaborators were the first ones who unambiguously identified specifically nociceptive neurons in the periphery. In their classic work, they recorded action potentials from single C-fibers of a cutaneous nerve in cats while applying carefully graded stimuli to the skin (Bessou P, Perl ER. Response of cutaneous sensory units with unmyelinated fibers to noxious stimuli. J Neurophysiol 32: 1025-1043, 1969). They discovered polymodal nociceptors, which responded to mechanical, thermal, and chemical stimuli in the noxious range, and differentiated them from low-threshold thermoreceptors. Their classic findings form the basis of the present method that undergraduate medical students experience during laboratory exercises of sensory physiology, namely, quantitative testing of the thermal detection and pain thresholds. This diagnostic method examines the function of thin afferent nerve fibers. We collected data from nearly 300 students that showed that 1) women are more sensitive to thermal detection and thermal pain at the thenar than men, 2) habituation shifts thermal pain thresholds during repetititve testing, 3) the cold pain threshold is rather variable and lower when tested after heat pain than in the reverse case (order effect), and 4) ratings of pain intensity on a visual analog scale are correlated with the threshold temperature for heat pain but not for cold pain. Median group results could be reproduced in a retest. Quantitative sensory testing of thermal thresholds is feasible and instructive in the setting of a laboratory exercise and is appreciated by the students as a relevant and interesting technique.