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来产生必要的指尖 运动和力。手指的肌肉(包括拇指)被认为是多余的。冗余性、 这一直被称为电机控制的中心问题，也表明了对一些损失的稳健性 肌肉。 到目前为止，我们的工作迫使并使我们能够系统地建立肌肉之间的相互作用 手指和握手的手指都不能很好地抵抗肌肉功能障碍。每个假设和 AIM解决了多指的一个基本组件的产生，但目前尚不清楚 抓握：手指缓慢运动，保持平衡。为了检验每个假设，我们将应用和扩展我们的 结合行为研究、身体实验、数学分析和 两个互补目标的生物力学建模。 目标1：描述手指肌肉之间运动所必需的机械相互作用；并量化 它们对特定肌肉的丧失具有健壮性。我们将重点研究肌腱张力如何影响慢速手术的可行性 拇指、食指和中指的动作以获得抓握。 假设一：抓握习得和释放缺乏冗余性：缓慢的手指运动对 失去了一些肌肉。 目标2：描述多指抓握平衡所必需的肌腱张力之间的相互作用； 量化他们对特定肌肉丧失的健壮性。我们将关注个体肌肉的张力如何 影响两指和三指精确抓握的平衡(使用拇指尖端：食指；以及 拇指：索引：中)。我们还将探索模拟的信号相关噪声如何影响抓取平衡。 基本假设IIa：静态抓取力缺乏冗余性：抓取平衡对损失不稳健 一些肌肉的损伤。 第二假设IIb：静态抓取力缺乏冗余性：肌肉信号- 相关噪声进一步损害了抓取平衡。 在这个项目中对多指抓取的理解将为我们提供急需的神经。 了解灵巧手法易损性(和康复)的力学基础 特定的骨科/神经疾病、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.