Control of finger movement and force for precision pinch

项目摘要 多指操作需要众多肌肉之间的相互作用，以产生必要的指尖 运动和力。手指（包括拇指）的肌肉被认为是多余的。雷德韦尔， 长期以来一直被称为运动控制的核心问题，也表明了对一些损失的鲁棒性。 肌肉. 迄今为止，我们的工作迫使我们系统地建立肌肉之间的相互作用， 在手指内以及在抓握内的手指对于肌肉功能障碍不能是稳健的。每个假设和 Aim致力于生产一个基本的，但目前还不了解，组件的多指 抓握：缓慢的手指运动和抓握平衡。为了检验每个假设，我们将应用并扩展我们的 结合行为研究、尸体实验、数学分析和 生物力学建模在两个互补的目的。 目标1：描述手指肌肉运动所需的机械相互作用;并量化 他们对特定肌肉损失的鲁棒性。我们将重点关注肌腱张力如何影响缓慢的可行性， 拇指、食指和中指的动作用于抓握采集。 假设I：缺乏抓取获取和释放的冗余：缓慢的手指运动对抓取不鲁棒。 失去一些肌肉。 目标2：描述多指抓握平衡所需的肌腱张力之间的相互作用; 量化它们对特定肌肉损失的鲁棒性。我们将重点关注个体肌肉的张力 影响两指和三指精确抓握的平衡（使用拇指尖：食指;以及 拇指：食指：中）。我们还将探讨如何模拟信号相关的噪声影响把握平衡。 主要假设IIa：静态抓取力缺乏冗余：抓取平衡对损失不鲁棒 一些肌肉。 次要假设假设IIb：静态抓握力缺乏冗余：肌肉信号- 从属噪波进一步损害抓握平衡。 在这个项目中获得的关于多指抓取的理解将提供急需的神经- 机械基础，以了解灵巧操作的脆弱性（和康复）， 特定骨科/神经系统疾病、发育和衰老。

Project Summary Multifinger manipulation requires interactions among numerous muscles to produce the necessary fingertip motions and forces. The muscles of the fingers (including the thumb) are considered redundant. Redundancy, which has long been called the central problem of motor control, also suggests robustness to loss of some muscles. Our work to date compels and enables us to systematically establish how the interactions among muscles within a finger, and the fingers within a grasp, fail to be robust to muscle dysfunction. Each Hypothesis and Aim addresses the production of a fundamental, yet currently not understood, component of multifinger grasp: slow finger motions and grasp equilibrium. To test each Hypothesis we will apply and extend our integrative approach combining behavioral studies, cadaveric experiments, mathematical analysis, and biomechanical modeling in two complementary Aims. Aim 1: Characterize the necessary mechanical interactions among finger muscles for motion; and quantify their robustness to loss of specific muscles. We will focus on how tendon tensions affect the feasibility of slow motions of the thumb, index and middle fingers for grasp acquisition. Hypothesis I: Lack of redundancy for grasp acquisition and release: Slow finger motions are not robust to loss of some muscles. Aim 2: Characterize the necessary interactions among tendon tensions for multifinger grasp equilibrium; and quantify their robustness to loss of specific muscles. We will focus on how tensions from individual muscles affect the equilibrium of two- and three-finger precision grasps (using the tips of thumb:index; and thumb:index:middle). We will also explore how simulated signal-dependent noise affects grasp equilibrium. Primary Hypothesis IIa: Lack of redundancy for static grasp forces: Grasp equilibrium is not robust to loss of some muscles. Secondary Hypothesis Hypothesis IIb: Lack of redundancy for static grasp forces: Muscle Signal- Dependent Noise further compromises grasp equilibrium. The understanding gained about multifinger grasp in this project will provide the much-needed neuro- mechanical foundation to understand the vulnerability (and rehabilitation) of dexterous manipulation in specific orthopedic/neurologic diseases, development and aging.