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Volume 17, Number 11, Issue of June 1, 1997 pp. 4486-4499
Copyright ©1997 Society for NeuroscienceVisual and Somatosensory Information about Object Shape Control Manipulative Fingertip Forces
Received Dec. 19, 1996; revised March 17, 1997; accepted March 21, 1997.
Per Jenmalm and Roland S. Johansson Department of Physiology, Umeå University, S-901 87 Umeå, Sweden
We investigated the importance of visual versus somatosensory information for the adaptation of the fingertip forces to object shape when humans used the tips of the right index finger and thumb to lift a test object. The angle of the two flat grip surfaces in relation to the vertical plane was changed between trials from
40 to 30°. At 0° the two surfaces were parallel, and at positive and negative angles the object tapered upward and downward, respectively. Subjects automatically adapted the balance between the horizontal grip force and the vertical lift force to the object shape and thereby maintained a rather constant safety margin against frictional slips, despite the huge variation in finger force requirements. Subjects used visual cues to adapt force to object shape parametrically in anticipation of the force requirements imposed once the object was contacted. In the absence of somatosensory information from the digits, sighted subjects still adapted the force coordination to object shape, but without vision and somatosensory inputs the performance was severely impaired. With normal digital sensibility, subjects adapted the force coordination to object shape even without vision. Shape cues obtained by somatosensory mechanisms were expressed in the motor output about 0.1 sec after contact. Before this point in time, memory of force coordination used in the previous trial controlled the force output. We conclude that both visual and somatosensory inputs can be used in conjunction with sensorimotor memories to adapt the force output to object shape automatically for grasp stability.
Key words: cutaneous sensibility; digits; fingertip forces; grasp stability; hand; human; intrinsic object properties; manipulation; object shape; somatosensory information; vision
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