Stereotypical fingertip trajectories during grasp
Stereotypical fingertip trajectories during grasp
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DOI：
10.1152/jn.00546.2003
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发表时间：
2003-12-01
影响因子：
2.5
通讯作者：
Siegel, MP
中科院分区：
文献类型：
--
作者：
Kamper, DG;Cruz, EG;Siegel, MP
所有五个数字的运动学进行了分析，在达到和把握各种对象的任务。10名健康的受试者进行了20次试验，包括抓住5个不同大小和形状的物体。记录关节角度，并使用正向运动学计算手指轨迹。对于给定的受试者，指尖轨迹在试验中是一致的。不同大小的物体在很大程度上产生了沿着对数螺旋线描述的刻板轨迹的沿着不同部分的运动。螺旋拟合实际手指位置，所有试验的平均误差为0.23 +/- 0.25 cm，占手指位置方差的98%以上。这些模式是一致的独立的初始手指姿势。受试者没有产生直线运动，无论是在笛卡尔空间或关节空间。拇指轨迹的方向表现出比手指轨迹更大的对对象类型的依赖性，但仍然利用了一小部分（
The kinematics of movement of all five digits was analyzed during reach-and-grasp tasks for a variety of objects. Ten healthy subjects performed 20 trials involving the grasp of five objects of distinct size and shape. Joint angles were recorded, and digit trajectories were computed using forward kinematics. For a given subject, fingertip trajectories were consistent across trials. The different-sized objects largely produced movement along different portions of a stereotypical trajectory described by a logarithmic spiral. The spirals fit the actual finger positions with a mean error across all trials of 0.23 +/- 0.25 cm and accounted for over 98% of the variance in finger position. These patterns were consistent independent of initial finger posture. Subjects did not produce straight-line movements, either in Cartesian space or joint space. The direction of the thumb trajectories exhibited a greater dependence on object type than the finger trajectories, but still utilized a small percentage (