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Adaptive control finger force to tangential torque at the finger-object interface during holding and lifting tasks with a precision grip.

在精确抓握的握持和提升任务期间，自适应控制手指力到手指-物体界面处的切向扭矩。

基本信息

批准号：
11680027
负责人：
KINOSHITA Hiroshi
金额：
$ 1.98万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

项目摘要

This study examined the effects of torque tangentially acting at the finger-grasped object interface during holding and lifting tasks using a precision grip. A force-torque sensor and a Fast Trak angle/position sensor were installed in a grip apparatus. In the first experiment, the subjects(n = 6)held the apparatus for some period of time and rotated it at the fingertip by decreasing the grip force. The holding grip force was linearly related to torque. The estimated coefficient of friction for rotational slips was about 7 times larger than that for linear slips for varied grip surfaces. In the second experiment, the fingertip was blocked by the injection of Lidocaine during holding the apparatus. The grip force adjustment to torque was abolished. The findings indicated that the grip force adjustment to torque was made by cutaneous afferents at the fingertip. When visual information concerning the kinematic(angle)changes of the object during the rotation task was given under the fingertip anaestheria, the grip force adjustment was improved. In the third experiment, the subjects(n = 11)lilfted the apparatus from a table. The grip apparatus had an additional and movable weight attached inside the apparatus by which varied torque conditions were created. The rate change of grip force was appropriately scaled to torque. When torque was changed without informing the subjects, the time course of initial grip force followed that of the previous lifting trial. The findings suggested that torque was used as a parameter for feedforward control of the grip force, In the fourth experiment, the effect of visual information concerning the weight distribution was given by allowing the subjects to see the additional weight attached to the grip apparatus. It was found that such visual information can actually help in adjustment of feedforward control of the grip force for lifting of objects.

本研究探讨了扭矩切向作用在手指抓住的对象接口在持有和提升任务，使用精确的抓地力。将力-扭矩传感器和Fast Trak角度/位置传感器安装在夹具装置中。在第一个实验中，受试者（n = 6）举行了一段时间的设备，并在指尖旋转它通过减少握力。握柄力与扭矩呈线性相关。对于不同的抓地力表面，旋转滑动的估计摩擦系数比线性滑动的估计摩擦系数大约7倍。在第二个实验中，在握持装置期间通过注射利多卡因来阻断指尖。取消了对扭矩的夹持力调整。结果表明，握力对扭矩的调节是由指尖的皮肤传入神经完成的。当视觉信息有关的运动学（角度）的变化，在旋转任务的指尖麻醉下，握力的调整得到改善。在第三个实验中，受试者（n = 11）从桌子上抬起仪器。夹具装置具有附接在装置内部的附加的和可移动的重物，通过该重物产生不同的扭矩条件。将夹持力的变化率适当缩放至扭矩。当在未告知受试者的情况下改变扭矩时，初始握力的时间过程遵循先前的提升试验。研究结果表明，扭矩被用作前馈控制握力的参数，在第四个实验中，视觉信息的影响，有关的重量分布，让受试者看到附加的重量连接到握力器。据发现，这种视觉信息实际上可以帮助调节用于提升物体的抓握力的前馈控制。