Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation
Abstract Dexterous manipulation relies on the ability to simultaneously attain two goals: controlling object position and orientation (pose) and preventing object slip. Although object manipulation has been extensively studied, most previous work has focused only on the control of digit forces for s...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2023-07-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-023-38870-8 |
| _version_ | 1797769548341968896 |
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| author | Yen-Hsun Wu Marco Santello |
| author_facet | Yen-Hsun Wu Marco Santello |
| author_sort | Yen-Hsun Wu |
| collection | DOAJ |
| description | Abstract Dexterous manipulation relies on the ability to simultaneously attain two goals: controlling object position and orientation (pose) and preventing object slip. Although object manipulation has been extensively studied, most previous work has focused only on the control of digit forces for slip prevention. Therefore, it remains underexplored how humans coordinate digit forces to prevent object slip and control object pose simultaneously. We developed a dexterous manipulation task requiring subjects to grasp and lift a sensorized object using different grasp configurations while preventing it from tilting. We decomposed digit forces into manipulation and grasp forces for pose control and slip prevention, respectively. By separating biomechanically-obligatory from non-obligatory effects of grasp configuration, we found that subjects prioritized grasp stability over efficiency in grasp force control. Furthermore, grasp force was controlled in an anticipatory fashion at object lift onset, whereas manipulation force was modulated following acquisition of somatosensory and visual feedback of object’s dynamics throughout object lift. Mathematical modeling of feasible manipulation forces further confirmed that subjects could not accurately anticipate the required manipulation force prior to acquisition of sensory feedback. Our experimental approach and findings open new research avenues for investigating neural mechanisms underlying dexterous manipulation and biomedical applications. |
| first_indexed | 2024-03-12T21:10:40Z |
| format | Article |
| id | doaj.art-1714b095a8354c479d2ee7f5215cf79e |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-03-12T21:10:40Z |
| publishDate | 2023-07-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-1714b095a8354c479d2ee7f5215cf79e2023-07-30T11:11:22ZengNature PortfolioScientific Reports2045-23222023-07-0113111810.1038/s41598-023-38870-8Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulationYen-Hsun Wu0Marco Santello1School of Biological and Health Systems Engineering, Arizona State UniversitySchool of Biological and Health Systems Engineering, Arizona State UniversityAbstract Dexterous manipulation relies on the ability to simultaneously attain two goals: controlling object position and orientation (pose) and preventing object slip. Although object manipulation has been extensively studied, most previous work has focused only on the control of digit forces for slip prevention. Therefore, it remains underexplored how humans coordinate digit forces to prevent object slip and control object pose simultaneously. We developed a dexterous manipulation task requiring subjects to grasp and lift a sensorized object using different grasp configurations while preventing it from tilting. We decomposed digit forces into manipulation and grasp forces for pose control and slip prevention, respectively. By separating biomechanically-obligatory from non-obligatory effects of grasp configuration, we found that subjects prioritized grasp stability over efficiency in grasp force control. Furthermore, grasp force was controlled in an anticipatory fashion at object lift onset, whereas manipulation force was modulated following acquisition of somatosensory and visual feedback of object’s dynamics throughout object lift. Mathematical modeling of feasible manipulation forces further confirmed that subjects could not accurately anticipate the required manipulation force prior to acquisition of sensory feedback. Our experimental approach and findings open new research avenues for investigating neural mechanisms underlying dexterous manipulation and biomedical applications.https://doi.org/10.1038/s41598-023-38870-8 |
| spellingShingle | Yen-Hsun Wu Marco Santello Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation Scientific Reports |
| title | Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation |
| title_full | Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation |
| title_fullStr | Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation |
| title_full_unstemmed | Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation |
| title_short | Distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation |
| title_sort | distinct sensorimotor mechanisms underlie the control of grasp and manipulation forces for dexterous manipulation |
| url | https://doi.org/10.1038/s41598-023-38870-8 |
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