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When a person moves or presses with an individual finger other fingers also produce a force (Kilbreath and Gandevia 1994; Li et al. 2004; Zatsiorsky et al. 2000). Several factors are known to contribute to this response: (1) peripheral mechanical coupling, (2) multi-digit motor units, and (3) diverging central commands. This phenomenon, known as enslaving, has traditionally been studied in isometr...Show More
Inverse Piano Technique: a New Tool to Study Finger Interdependence
2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Year: 2006 | Conference Paper |
Cited by: Patents (1)
Two phenomena previously observed in multi-finger static maximum voluntary contraction (MVC) tasks—(1) force deficit and (2) enslaving—were compared with the force patterns produced during sub-maximal dynamic tasks. A new tool, the inverse piano, was designed to measure the finger forces during the sub-maximal dynamic tasks. During the dynamic experiments, the keys of the IP elevated according to ...Show More
In contrast to robots, in humans internal and manipulation forces are coupled
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.
Year: 2005 | Conference Paper |
Internal force is defined as a set of contact forces which does not perturb object equilibrium. The internal forces cancel each other and therefore do not contribute to the resultant (manipulation) force acting upon the object. Mathematically, the internal and manipulation forces are independent. Hence they can be controlled independently and corresponding controllers have been implemented in robo...Show More
Stabilization of kinematic variables in the control of bimanual pointing movements
IJCNN'01. International Joint Conference on Neural Networks. Proceedings (Cat. No.01CH37222)
Year: 2001 | Conference Paper |
Human voluntary movements face a problem of kinematic redundancy. We study a planar bimanual task, when one hand moves a target and the other hand moves a pointer that must reach the target. We hypothesized that the stabilized task variable was the vectorial difference of the pointer tip and the target. The 6D state space was defined by "joint configuration vectors" whose elements were intersegmen...Show More
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