The control of whole hand grasping relies on complex coordination of multiple forces. While many studies have characterized the coordination of finger forces and torques, the control of hand muscle activity underlying multi-digit grasping has not been studied to the same extent. Motor-unit synchrony across finger muscles or muscle compartments might be one of the factors underlying the limited ...

We used a novel apparatus with three hinged finger pads to characterize collaborative multifinger interactions during dynamic manipulation requiring individuated control of fingertip motions and forces. Subjects placed the thumb, index, and middle fingertips on each hinged finger pad and held it-unsupported-with constant total grasp force while voluntarily oscillating the thumb's pad. This task...

The selection of the right input devices for 3D interaction methods is important for a successful VR system. While natural direct interaction is often preferred, research has shown that indirect interaction can be beneficial. This paper focuses on an immersive simulation and training environment, in which one sub-task it is to carefully grasp and move a force-sensitive thin deformable foil with...

Two studies were conducted to determine the effects of enhanced auditory feedback on typing force, electromyography (EMG) and subjective discomfort. The introduction of enhanced auditory feedback caused a 10-20% reduction in 90th percentile typing force, finger flexor EMG, and finger extensor EMG. Adaptation to the enhanced auditory feedback occurred in <3 min. After 1 week of intermittent enha...

We studied age-related changes in the performance of maximal and accurate submaximal force and moment production tasks. Elderly and young subjects pressed on six dimensional force sensors affixed to a handle with a T-shaped attachment. The weight of the whole system was counterbalanced with another load. During tasks that required the production of maximal force or maximal moment by all of the ...

We explored changes in finger interaction in the process of healthy aging as a window into neural control strategies of natural movements. In particular, we quantified the amount of force produced by noninstructed fingers in different directions, the amount of force produced by the instructed finger orthogonally to the task direction, and the strength of multifinger synergies stabilizing the to...

Detecting and localizing hard lumps in soft tissues is an important medical procedure. A psychophysics experiment measured minimum indentation forces required to detect a hard ball embedded in a soft rubber model. Ball size and finger indentation speed were varied. Threshold detection forces increased with ball size and decreased with indentation speed. The shape of the finger and contact press...

Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely (“flop”) in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired tor...