The target as an obstacle: Grasping an object at different heights

Reach-to-Grasp Behavior

Experimental Brain Research, 2001

Numerous everyday tasks require the nervous system to program a prehensile movement towards a target object positioned in a cluttered environment. Adult humans are extremely proficient in avoiding contact with any non-target objects (obstacles) whilst carrying out such movements. A number of recent studies have highlighted the importance of considering the control of reach-to-grasp (prehension) movements in the presence of such obstacles. The current study was constructed with the aim of beginning the task of studying the relative impact on prehension as the position of obstacles is varied within the workspace. The experimental design ensured that the obstacles were positioned within the workspace in locations where they did not interfere physically with the path taken by the hand when no obstacle was present. In all positions, the presence of an obstacle caused the hand to slow down and the maximum grip aperture to decrease. Nonetheless, the effect of the obstacle varied according to its position within the workspace. In the situation where an obstacle was located a small distance to the right of a target object, the obstacle showed a large effect on maximum grip aperture but a relatively small effect on movement time. In contrast, an object positioned in front and to the right of a target object had a large effect on movement speed but a relatively small effect on maximum grip aperture. It was found that the presence of two obstacles caused the system to decrease further the movement speed and maximum grip aperture. The position of the two obstacles dictated the extent to which their presence affected the movement parameters. These results show that the anticipated likelihood of a collision with potential obstacles affects the planning of movement duration and maximum grip aperture in prehension.

Human movement science, 2012

The selection of grasping points, the positions at which the digits make contact with an object's surface in order to pick it up, depends on several factors. In this study, we examined the influence of obstacles on the selection of grasping points. Subjects reached to grasp a sphere placed on a table. Obstacles were placed either near the anticipated grasping points or near the anticipated elbow position at the time of contact with the object. In all cases, subjects adjusted the way they moved when there was an obstacle nearby, but only obstacles near the thumb had a consistent influence across subjects. In general, the influence of the obstacle increased as it was placed closer to the digit or elbow, rather than the subject grasping in a manner that would be appropriate for all conditions. This suggests that under these circumstances the configuration of the arm and hand at the moment of contact was a critical factor when selecting at which points to grasp the objects.

2008

Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped vertically-oriented cylinders of various heights, starting from two starting positions and performing the task at two different speeds. Movements of trunk, arm and hand were recorded by means of a 3D motion-tracking system. The results show that cylinder-height moderated the approach phase as expected: small cylinders induced grasps from above whereas large cylinders elicited grasps from the side. The collision-avoidance constraint proved not only to be accommodated by aperture overshoots but its effects already showed up early on as differential adaptations of the distal upper limb parameters. We discuss some implications of the present analysis of grasping movements for designing anthropomorphic robots.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2009

Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped vertically-oriented cylinders of various heights, starting from two starting positions and performing the task at two different speeds. Movements of trunk, arm and hand were recorded by means of a 3D motion-tracking system. The results show that cylinder-height moderated the approach phase as expected: small cylinders induced grasps from above whereas large cylinders elicited grasps from the side. The collision-avoidance constraint proved not only to be accommodated by aperture overshoots but its effects already showed up early on as differential adaptations of the distal upper limb parameters. We discuss some implications of the present analysis of grasping movements for designing anthropomorphic robots.

Experimental Brain Research, 1993

This study assessed the reach to grasp movement and its adaptive response to a perturbation of object size. In blocked trials, subjects (n = 12) were instructed to reach 35 cm to grasp and lift a small- (0.7 cm) or large-diameter (8 cm) cylinder. Under an unconstrained condition (condition 1), no instructions as to the type of grasp to adopt were given. Subjects thus naturally used a precision grip (PG) for the small cylinder and whole hand prehension (WHP) for the large cylinder. Under condition 2, subjects were instructed to utilize a PG for grasps of both the large and small cylinders. For condition 3, the instruction was to use WHP irrespective of object size. Kinematic organization was determined with analysis of the recordings of active markers placed on the wrist, thumb, and three fingers. For condition 1 the results showed a temporal arrangement of both components (transport and manipulation) which differed from that of conditions 2 and 3. In perturbed trials, illumination shifted from the small to large cylinder or vice versa. With condition 1, subjects automatically switched from one grasp to another with no or little increase of movement duration. This was generally achieved by an earlier temporal setting of peak wrist deceleration. For conditions 2 and 3, where a change of aperture was required, movement duration was prolonged without adaptation of earlier transport component parameters. It is concluded that the adaptive responses to a change of distal patterning also affect the organization of the proximal component. Assessment of grasps constrained by instructions may lead to interpretations of central control of the reach to grasp movement which differ from those obtained by assessing more natural prehensile patterns.

Reaching out for an object is often described as consisting of two components that are based on different visual information. Information about the object's position and orientation guides the hand to the object, while information about the object's shape and size determines how the fingers move relative to the thumb to grasp it. We propose an alternative description, which consists of determining suitable positions on the object-on the basis of its shape, surface roughness, and so on-and then moving one's thumb and fingers more or less independently to these positions. We modeled this description using a minimum- jerk approach, whereby the finger and thumb approach their respective target positions approximately orthogonally to the surface. Our model predicts how experimental variables such as object size, movement speed, fragility, and required accuracy will influence the timing and size of the maximum aperture of the hand. An extensive review of experimental studies on grasping showed that the predicted influences correspond to human behavior.

Grasping is a prototype of human motor coordination. Nevertheless, it is not known what determines the typical movement patterns of grasping. One way to approach this issue is by building models. We developed a model based on the movements of the individual digits. In our model the following objectives were taken into account for each digit: move smoothly to the preselected goal position on the object without hitting other surfaces, arrive at about the same time as the other digit and never move too far from the other digit. These objectives were implemented by regarding the tips of the digits as point masses with a spring between them, each attracted to its goal position and repelled from objects' surfaces. Their movements were damped. Using a single set of parameters, our model can reproduce a wider variety of experimental findings than any previous model of grasping. Apart from reproducing known effects (even the angles under which digits approach trapezoidal objects' surfaces, which no other model can explain), our model predicted that the increase in maximum grip aperture with object size should be greater for blocks than for cylinders. A survey of the literature shows that this is indeed how humans behave. The model can also adequately predict how single digit pointing movements are made. This supports the idea that grasping kinematics follow from the movements of the individual digits.

Experimental Brain Research, 2014

2021

Whether the visuomotor coding of size in grasping obeys Weber's law is currently debated. Following up on previous work from our laboratory, here we investigated the precision associated with the maximum in-flight index-thumb aperture (MGA) in grasping small-to-medium sized objects. We report three main findings. First, grasp preparation was longer with 5 mm objects and became increasingly faster as object size increased from 10 to 20-40 mm. Second, MGA variable errors increased as sizes increased from 5 to 10-20 mm, whereas they decreased as size reached 40 mm. Third, MGA distributions were symmetrical with 5 mm objects, but became increasingly right-skewed as size increased. These results, as well as a re-analysis of previous findings, suggest that the precision of visuomotor representations varies as a function of size, consistent with the key principle underlying Weber's law. However, a fundamental constraint on precision grips (the MGA must always exceed physical size) changes the skew of the distribution and reduces the variability of MGAs as size increases from very small to medium.

Psychonomic Bulletin & Review, 2014

Previous research has shown that the fingers' aperture during grasp is affected by the numerical values of numbers embedded in the grasped objects: Numerically larger digits lead to larger grip apertures than do numerically smaller digits during the initial stages of the grasp. The relationship between numerical magnitude and visuomotor control has been taken to support the idea of a common underlying neural system mediating the processing of magnitude and the computation of object size for motor control. The purpose of the present study was to test whether the effect of magnitude on motor preparation is automatic. During grasping, we asked participants to attend to the colors of the digit while ignoring numerical magnitude. The results showed that numerical magnitude affected grip aperture during the initial stages of the grasp, even when magnitude information was irrelevant to the task at hand. These findings suggest that magnitude affects grasping preparation in an automatic fashion.

The Journal of neuroscience, 2007

Journal of …, 2004

Experimental Brain Research, 2005

When reaching out for objects, the digits' paths curve so that they approach their positions of contact moving more or less perpendicularly to the local surface orientation. This increases the accuracy of positioning the digits and ensures that any forces exerted at contact are nearly perpendicular to the surface, so that friction will prevent the digits from slipping along the surface. When lifting the object a similar force perpendicular to the surface is needed to prevent the object from slipping from one's fingers. In order to determine whether these two issues are dealt with simultaneously we let subjects pick up a cube from three different starting positions and measured the digits' movements and forces from before contact until the moment the cube started moving. The impact force was low. After impact, the digits spent about 200 ms in contact with the surface of the cube before the latter started to move. The digits first decelerated, and then they gradually built up the grip-and lift forces to move the cube upwards. We found no direct relationship between the control of the reaching movement towards the object and the force applied at the surface of the object to pick it up. We conclude that the reaching and lifting movements are quite independent.

Experimental Brain Research, 2006

There are many conditions in which the visually perceived shape of an object differs from its true shape. We here show that one can reveal such errors by studying grasping. Nine subjects were asked to grasp and lift elliptical cylinders that were placed vertically at eye height. We varied the cylinder's aspect ratios, orientations about the vertical axis and distances from the subject. We found that the subjects' grip orientations deviated systematically from the orientations that would give the mechanically optimal grip. That this is largely due to misjudging the cylinder's shape (rather than to selecting a comfortable posture) follows from the fact that the grip aperture was initially more strongly correlated with the maximal grip aperture (which is related to the expected contact positions) than with the final grip aperture (which is determined by the real contact positions). The correlation with the maximal grip aperture drops from 0.8 to 0.6 in the last 1% of the traversed distance (11% of movement time), showing that the grip aperture was anticipated incorrectly (it is automatically ''corrected'' at contact). The grip orientation was already strongly correlated with the grip orientation at the time of maximal grip aperture, half way through the movement (R ‡0.7), showing that the suboptimal grip orientations were planned that way. We conclude that subjects plan their grasps using information that is based on the misperceived shape.