1,721,028 research outputs found
Modeling Natural and Artificial Hands with Synergies
No full textWe report on recent work in modelling the process of grasping and active touch by natural and artificial hands. Starting from observations made in human hands about the correlation of degrees of freedom in patterns of more frequent use (postural synergies), we consider the implications of a geometrical model accounting for such data, which is applicable to the pre-grasping phase occurring when shaping the hand before actual contact with the grasped object. To extend applicability of the synergy model to study force distribution in the actual grasp, we introduce a modified model including the mechanical compliance of the hand’s musculotendinous system. Numerical results obtained by this model indicate that the same principal synergies observed from pre-grasp postural data are also fundamental in achieving proper grasp force distribution. To illustrate the concept of synergies in the dual domain of haptic sensing, we provide a review of models of how the complexity and heterogeneity of sensory information from touch can be harnessed in simplified, tractable abstractions. These abstractions are amenable to fast processing to enable quick reflexes as well as elaboration of high-level percepts. Applications of the synergy model to the design and control of artificial hands and tactile sensors are illustrated
Coordination of multi-digit positions and forces during unconstrained grasping in response to object perturbations
No full textEffects of end-goal on hand shaping
No full textThe aim of the present study was to determine whether hand shaping was affected by planning of an action subsequent to object contact. Ten subjects (5 females and 5 males, ages 19-33) were requested to reach toward and grasp a convex object between the thumb and the four fingers of the right hand and to perform one of the following actions: 1) lift up the object; 2) insert the object into a niche of a similar shape and size as the object, or 3) insert the object into a rectangular niche much larger than the object. Flexion/extension at the metacarpal-phalangeal and proximal interphalangeal joints of all digits were measured using resistive sensors embedded in a glove. Although all experimental conditions required grasping the same object, we found different covariation patterns among finger joint angles across conditions. Gradual preshaping of the hand occurred only when planning object lift or when the end-goal required object placement into the tight niche. In contrast, for the larger niche, gradual preshaping was not evident for the ring and the little finger. Further, reaching movements were faster for movements ending with the larger niche than for the other movement conditions. The present results suggest that hand shaping takes into account end-goal in addition to object geometry. We discuss these findings in the context of forward internal models that allow the prediction of the sensorimotor consequences of motor commands in advance to their execution
A Non-Invasive Biopotential Electrode for the Correct Detection of Bioelectrical Currents
No full textAn advanced current measure probe is described for biological applications. Singular points on the body skin emit a semi-constant current that could be potentially useful for a medical diagnosis of the body organs to which any singular point is connected. In order to achieve an accurate and reliable analysis of the emitted current, all the error sources have been studied in order to design a ready to use probe
Control of hand shaping in response to object shape perturbation
No full textThis study assessed how hand shaping responds to a perturbation of object shape. In blocked trials (80% of total), subjects were instructed to reach, to grasp and lift a concave or a convex object. In perturbed trials (20% of total), a rotating device allowed for the rapid change from the concave to the convex object or vice versa. In this situation subjects grasped the last presented object. Flexion/extension at the metacarpal-phalangeal and proximal interphalangeal joints of all digits was measured by resistive sensors embedded in a glove. In the blocked condition we found that most joints of the fingers were modulated by the type of the to-be-grasped object during the reach. When object shape was perturbed, reach duration was longer and angular excursion of all fingers differed with respect to blocked trials. For the 'convex --> concave' perturbation, a greater degree of finger extension was found than during the blocked 'concave' trials. In contrast, for the 'concave --> convex' perturbation, fingers were more flexed than for the blocked 'convex' trials. The thumb reacted to the perturbation showing a similar pattern (i.e., over-flexion with respect to the blocked trials) regardless the 'direction' of the perturbation. The present results suggest that applying an object shape perturbation during a reach-to-grasp action determines a reorganization of all digits. This pattern is suggestive of a control strategy, which assigns to opposing digits different roles
Gliotransmission and the tripartite synapse
No full textIn the last years, the classical view of glial cells (in particular of astrocytes) as a simple supportive cell for neurons has been replaced by a new vision in which glial cells are active elements of the brain. Such a new vision is based on the existence of a bidirectional communication between astrocytes and neurons at synaptic level. Indeed, perisynaptic processes of astrocytes express active G-protein-coupled receptors that are able (1) to sense neurotransmitters released from the synapse during synaptic activity, (2) to increase cytosolic levels of calcium, and (3) to stimulate the release of gliotransmitters that in turn can interact with the synaptic elements. The mechanism(s) by which astrocytes can release gliotransmitter has been extensively studied during the last years. Many evidences have suggested that a fraction of astrocytes in situ release neuroactive substances both with calcium-dependent and calcium-independent mechanism(s); whether these mechanisms coexist and under what physiological or pathological conditions they occur, it remains unclear. However, the calcium-dependent exocytotic vesicular release has received considerable attention due to its potential to occur under physiological conditions via a finely regulated way. By releasing gliotransmitters in millisecond time scale with a specific vesicular apparatus, astrocytes can integrate and process synaptic information and control or modulate synaptic transmission and plasticity
Planning and control of object grasping: kinematics of hand pre-shaping, contact and manipulation
No full text
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
- …
