Coordination of human grasp and manipulation forces

人类抓握力和操纵力的协调

基本信息

批准号：
10593716
负责人：
MARCO SANTELLO
金额：
$ 20.07万
依托单位：
ARIZONA STATE UNIVERSITY-TEMPE CAMPUS
依托单位国家：
美国
项目类别：
财政年份：
2023
资助国家：
美国
起止时间：
2023-02-06 至 2025-01-31
项目状态：
未结题

来源：
https://reporter.nih.gov/project-details/10593716
关键词：
Address Basic Science Carpal Tunnel Syndrome Clinical Clinical Assessment Tool Coupled Data Devices Digit structure Electromyography Exertion Feedback Focal Dystonias Foundations Funding Goals Hand Human Impairment Injury Intervention Joints Knowledge Laboratories Lifting Mathematics Memory Muscle Nerve compression syndrome Nervous System Trauma Patients Performance Peripheral Nervous System Diseases Positioning Attribute Prevention Property Recovery of Function Rehabilitation device Research Resistance Robotics Role Self-Help Devices Sensorimotor functions Spinal cord injury Stimulus Surface Tactile Testing Time Torque Translating Translations Traumatic injury United States National Institutes of Health Work clinical application clinical translation cost design dexterity experience grasp hand rehabilitation high reward high risk improved insight median nerve neglect nervous system disorder neuromuscular system novel novel strategies preservation prevent sensorimotor control mechanism sensory feedback sensory integration tool

Address Basic Science Carpal Tunnel Syndrome Clinical Clinical Assessment Tool Coupled Data Devices Digit structure Electromyography Exertion Feedback Focal Dystonias Foundations Funding Goals Hand Human Impairment Injury Intervention Joints Knowledge Laboratories Lifting Mathematics Memory Muscle Nerve compression syndrome Nervous System Trauma Patients Performance Peripheral Nervous System Diseases Positioning Attribute Prevention Property Recovery of Function Rehabilitation device Research Resistance Robotics Role Self-Help Devices Sensorimotor functions Spinal cord injury Stimulus Surface Tactile Testing Time Torque Translating Translations Traumatic injury United States National Institutes of Health Work clinical application clinical translation cost design dexterity experience grasp hand rehabilitation high reward high risk improved insight median nerve neglect nervous system disorder neuromuscular system novel novel strategies preservation prevent sensorimotor control mechanism sensory feedback sensory integration tool

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项目摘要

PROJECT SUMMARY The hand’s sophisticated neuromuscular system enables us to interact with the world in a myriad of ways, one of which is dexterous manipulation. The hand’s incredible versatility, however, comes at a cost: when peripheral neuropathies, neurological disorders or traumatic injury occur, our ability to improve sensorimotor function is severely challenged by our limited understanding of the hand’s sensorimotor control mechanisms. Therefore, improving our understanding of these mechanisms could enhance the impact of clinical intervention. This notion has driven extensive research over the past four decades aiming at unravelling how the hand’s sensorimotor control mechanisms operate. Previous research has provided significant insights into the coordination of digit forces required to prevent object slip. Surprisingly, however, this previous work neglected to address another important component of manipulation: the ability to control object position and orientation, i.e., pose. This is a critical gap because dexterous manipulation often requires both object slip prevention and dexterous control of object pose. To address this gap, in the past decade our laboratory has developed an experimental paradigm that allows subjects to choose where to grasp the object and contains a dexterity component, i.e., lifting an object straight while preventing it from tilting. Nevertheless, the major limitation of this work is that the modulation of load and grip forces cannot be decoupled to identify their relative contribution to object slip prevention and pose control. To fill this gap, we propose an approach that will allow us, for the first time, to identify the control mechanisms underlying grasp and manipulation. Our approach combines a task with a dexterity component, surface electromyography of digit muscles, and a novel application of digit force analysis developed for robotic manipulation. Our task requires subjects to coordinate digit forces to simultaneously prevent object slip and minimize object tilt. Our analysis can mathematically decouple digit forces into grasp force (object slip prevention) and manipulation force (object pose control). We will pursue two aims: (1) To determine the causal relation between grasp and manipulation forces, and (2) To quantify the effect of predictability of object properties on the coordination between grasp and manipulation forces. If successful, this new knowledge will enable clinicians to extract information about the state of the hand’s sensorimotor function that cannot otherwise be extracted by clinical assessment tools. Our long-term objective is to improve the theoretical constructs of dexterous manipulation control and their translation to clinical applications, including tools for quantifying recovery of hand function following clinical intervention, as well as design of assistive and/or rehabilitation devices.

项目摘要手的精致神经肌肉系统使我们能够以多种方式与世界互动，其中之一是灵巧的操纵。然而，手的多功能性令人难以置信，这是有代价的：周围神经病，神经系统疾病或创伤性损伤发生，我们改善感觉运动的能力通过有限的理解，功能受到严重挑战。因此，提高我们对这些机制的理解可以增强临床干预的影响。在过去的四十年中，这一概念推动了广泛的研究，旨在揭示手的方式感觉运动控制机制运行。以前的研究为防止物体滑移所需的数字力的协调。但是，令人惊讶的是，这项先前的工作被忽略了解决操纵的另一个重要组成部分：控制对象位置和方向的能力，即姿势。这是一个关键的差距，因为灵巧的操作通常需要预防对象滑动和对物体姿势的灵活控制。为了解决这一差距，在过去的十年中，我们的实验室发展了实验范式，允许受试者选择在哪里掌握物体并含有灵巧性组件，即，将物体直接抬起，同时阻止其倾斜。然而，这项工作是无法将负载和握力的调节脱钩以确定其相对贡献预防滑移和姿势控制。为了填补这一空白，我们提出了一种方法，可以使我们第一次，确定掌握和操纵的控制机制。我们的方法结合了一个具有敏捷成分的任务，数字肌肉的表面肌电图和数字的新颖应用为机器人操纵而开发的力分析。我们的任务要求受试者协调数字力量类似地防止对象滑动并最小化对象倾斜。我们的分析可以在数学上分离数字将力抓住力（预防物体防滑）和操纵力（对象姿势控制）。我们将追求两个目的：（1）确定掌握力与操纵力之间的因果关系，以及（2）量化对象性质的可预测性对抓地力和操纵力之间的协调性的影响。如果成功，这些新知识将使临床医生能够提取有关手的状态的信息临床评估工具否则无法提取的感觉运动功能。我们的长期目标是为了改善灵巧操纵控制的理论构建体及其转换为临床应用程序，包括用于量化临床干预后手功能恢复的工具，以及辅助和/或康复设备的设计。