Dynamical Synergies of Multidigit Hand Prehension

Hand prehension requires highly coordinated control of contact forces. The high-dimensional sensorimotor system of the human hand operates at ease, but poses several challenges when replicated in artificial hands. This paper investigates how the dynamical synergies, coordinated spatiotemporal patter...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 22; no. 11; p. 4177
Main Authors Pei, Dingyi, Olikkal, Parthan, Adali, Tülay, Vinjamuri, Ramana
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 31.05.2022
MDPI
Subjects
Activities of daily living
dynamical synergies
Grip strength
Hand
hand prehension
kinematic synergies
Kinematics
Measurement
movement primitives
Physiological aspects
principal component analysis
Prostheses
Robotics
Sensors
singular value decomposition
Testing
United States
United States > US
dynamical synergies
kinematic synergies
principal component analysis
singular value decomposition
hand prehension
movement primitives
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Summary:Hand prehension requires highly coordinated control of contact forces. The high-dimensional sensorimotor system of the human hand operates at ease, but poses several challenges when replicated in artificial hands. This paper investigates how the dynamical synergies, coordinated spatiotemporal patterns of contact forces, contribute to the hand grasp, and whether they could potentially capture the force primitives in a low-dimensional space. Ten right-handed subjects were recruited to grasp and hold mass-varied objects. The contact forces during this multidigit prehension were recorded using an instrumented grip glove. The dynamical synergies were derived using principal component analysis (PCA). The contact force patterns during the grasps were reconstructed using the first few synergies. The significance of the dynamical synergies, the influence of load forces and task configurations on the synergies were explained. This study also discussed the contribution of biomechanical constraints on the first few synergies and the current challenges and possible applications of the dynamical synergies in the design and control of exoskeletons. The integration of the dynamical synergies into exoskeletons will be realized in the near future.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s22114177