The scaling of human grip configurations.

The many degrees of freedom of the hand and arm afford the wide range and rich adaptability of human grip configurations in action. Several classification schemes of human grip configurations have been proposed, but none is based on scaling laws of physical biology, which are well established for other categorizations of fundamental physical activities such as locomotion. This study examined the preferred human grip configurations used to displace to a new location cubes that varied systematically in length (L), mass (M), and density (ML-3). The body-scaled equation K = log L + (log M)/h (where h refers to anthropometric measures of the hand) predicted the grip configurations used to displace objects. The findings suggest that information about the dynamic scaling relation is picked up visually and organizes the many degrees of freedom of the hand-arm complex in the coordination of prehensile grip configurations.     

Support vector machines categorize the scaling of human grip configurations

In previous work (Cesari & Newell, 2002), we used a graphical dimensional analysis to show that grip transitions obey the body-scaled relation K = lnL(o) + InM(o)h/(a + bM(h) + cL(h)), where L. and Mo are the object's length and mass, and Lh and Mh the length and mass of the grasper's hand. However, the generality of the equation was limited by the ad hoc graphical method that defined the lines for grip separation and by the assumption that these lines be negatively sloped and parallel to one another. This article reports an independent test of this relation by the geometrical and statistical categorization of body-scaled invariants for the transition of human grip configurations through support vector machines (SVMs). The SVM analysis confirmed the fit of linear, negatively sloped, and approximately parallel transition boundaries in the scaling of human grip configuration within a single hand. The SVM analysis has provided a theoretical refinement to the scaling model of human grip configurations.     

Coming to grips with weight perception: effects of grasp configuration on perceived heaviness

We investigated how changes in grasp configuration affect perceived heaviness in a weight discrimination task in which participants compared the weights of a series of test objects with the weight of a reference object. In different experiments, we varied the width of the grasp, the number of digits employed, the angle of the grasp surface, and the size of the contact area between the digits and the object. We show that objects are perceived to be lighter when lifting with (1) a wide grip in comparison with a narrow grip, (2) five digits in comparison with two digits, and (3) a large contact area in comparison with a small contact area. However, the angle of the contact surfaces did not influence perceived weight. We suggest that changes in central motor commands associated with grasp differences may influence perceived weight, at least under some conditions.     

Scaling affordances for human reach actions

A methodology developed by Cesari and Newell [Cesari, P., & Newell, K. M. (1999). The scaling of human grip configuration. Journal of Experimental Psychology: Human Perception and Performance 25, 927-935; Cesari, P., & Newell, K. M. (2000). The body-scaling of grip configurations in children aged 6-12 years. Developmental Psychobiology 36, 301-310] was used to delineate the roles of an object's weight (W) and distance (D) as well as the actor's strength (S) in determining the macroscopic action used to reach for the object. Participants reached for objects of five different weights placed at 10 distances. The findings of a single discriminant analysis revealed that when object weight is scaled in terms of each individual's strength and reach distance is scaled in terms of each individual's maximum-seated reach distance, a single discriminant analysis was able to predict 90% of the reach modes used by both men and women. The result of the discriminant analysis was used to construct a body-scaled equation, K=lnD+ln(W/S)/36, similar in form to the one derived by Cesari and Newell, accurately predicted the reach action used. Our findings indicate that Cesari and Newell's method can identify a complex relationship between geometric and dynamic constraints that determine the affordances for different reach actions.     

Coordination of grip configurations as a function of force output

In this investigation, the authors examined the coordination and control of force production by the digits of the hand as a function of criterion force level and grip configuration. Each adult participant (N = 6: 3 men and 3 women) was required to place the thumb and a finger (or fingers) upon load cells that were fixed to a grasping apparatus that was clamped to a table. In the task, participants had to match a criterion continuous constant total force level displayed on a computer screen. There were 10 trials at each grip configuration and criterion force level combination on each of 3 consecutive days. The results showed that (a) different grip configurations minimized error at each force level; (b) there was a specific digit pairing within a given grip configuration that produced the highest correlation of force output; (c) the correlation between the force output of digits generally increased at higher force levels; (d) error was reduced at each force level and grip configuration over the practice period; and (e) the organization of the force output of each digit varied as a function of digit, force level, grip configuration, and practice. The findings are consistent with the hypothesis that coordination of the digits in prehension is reflective of an adaptive, task-specific solution that is modified with practice.     

Coordination of Grip Configurations as a Function of Force Output

In this investigation, the authors examined the coordination and control of force production by the digits of the hand as a function of criterion force level and grip configuration. Each adult participant (N = 6: 3 men and 3 women) was required to place the thumb and a finger (or fingers) upon load cells that were fixed to a grasping apparatus that was clamped to a table. In the task, participants had to match a criterion continuous constant total force level displayed on a computer screen. There were 10 trials at each grip configuration and criterion force level combination on each of 3 consecutive days. The results showed that (a) different grip configurations minimized error at each force level; (b) there was a specific digit pairing within a given grip configuration that produced the highest correlation of force output; (c) the correlation between the force output of digits generally increased at higher force levels; (d) error was reduced at each force level and grip configuration over the practice period; and (e) the organization of the force output of each digit varied as a function of digit, force level, grip configuration, and practice. The findings are consistent with the hypothesis that coordination of the digits in prehension is reflective of an adaptive, task-specific solution that is modified with practice.     

The material-weight illusion revisited

Experiment 1 documents modality effects on the material-weight illusion for a low-mass object set (58.5 g). These modality effects indicate that the material-weight illusion is principally a haptically derived phenomenon: Haptically accessed material cues were both sufficient and necessary for full-strength illusions, whereas visually accessed material cues were only sufficient to generate moderate-strength illusions. In contrast, when a high-mass object set (357 g) was presented under the same modality conditions, no illusions were generated. The mass-dependent characteristic of this illusion is considered to be a consequence of differing grip forces. Experiment 2 demonstrates that the enforcement of a firm grip abolishes the low-mass material-weight illusion. Experiment 3 documents that a firm grip also diminishes perceptual differentiation of actual mass differences. Several possible explanations of the consequences of increasing grip force are considered.     

The surface-weight illusion: on the contribution of grip force to perceived heaviness

Previous psychophysical studies have shown that an object, lifted with a precision grip, is perceived as being heavier when its surface is smooth than when it is rough. Three experiments were conducted to assess whether this surface-weight illusion increases with object weight, as a simple fusion model suggests. Experiment 1 verified that grip force increases more steeply with object weight for smooth objects than for rough ones. In Experiment 2, subjects rated the weight of smooth and rough objects. Smooth objects were judged to be heavier than rough ones; however, this effect did not increase with object weight. Experiment 3 employed a different psychophysical method and replicated this additive effect, which argues strongly against the simple fusion model. The whole pattern of results is consistent with a weighted fusion model in which the sensation of grip force contributes only partially to the perceived heaviness of a lifted object.     

The surface—weight illusion: On the contribution of grip force to perceived heaviness

Previous psychophysical studies have shown that an object, lifted with a precision grip, is perceived as being heavier when its surface is smooth than when it is rough. Three experiments were conducted to assess whether this surface-weight illusion increases with object weight, as a simple fusion model suggests. Experiment 1 verified that grip force increases more steeply with object weight for smooth objects than for rough ones. In Experiment 2, subjects rated the weight of smooth and rough objects. Smooth objects were judged to be heavier than rough ones; however, this effect did not increase with object weight. Experiment 3 employed a different psychophysical method and replicated this additive effect, which argues strongly against the simple fusion model. The whole pattern of results is consistent with a weighted fusion model in which the sensation of grip force contributes only partially to the perceived heaviness of a lifted object.     

Stability control of grasping objects with different locations of center of mass and rotational inertia

The objective of this study was to observe how the digits of the hand adjust to varying location of the center of mass (CoM) above or below the grasp and rotational inertia (RI) of a handheld object. Such manipulations do not immediately affect the equilibrium equations while stability control is affected. Participants were instructed to hold a handle, instrumented with 5 force-torque transducers and a 3-D rotational tilt sensor, while either the location of the CoM or the RI values were adjusted. On the whole, people use 2 mechanisms to adjust to the changed stability requirements; they increase the grip force and redistribute the total moment between the normal and tangential forces offsetting internal torques. The increase in grip force, an internal force, and offsetting internal torques allows for increases in joint and hand rotational apparent stiffness while not creating external forces-torques that would unbalance the equations of equilibrium.     

Grip morphology and hand use in chimpanzees (Pan troglodytes): evidence of a left hemisphere specialization in motor skill

Three experiments on grip morphology and hand use were conducted in a sample of chimpanzees. In Experiment 1, grip morphology when grasping food items was recorded, and it was found that subjects who adopted a precision grip were more right-handed than chimpanzees using other grips. In Experiment 2, the effect of food type on grasping was assessed. Smaller food items elicited significantly more precision grips for the right hand. In Experiment 3, error rates in grasping foods were compared between the left and right hands. Significantly more errors were made for the left compared with the right hand. The cumulative results indicate that chimpanzees show a left-hemisphere asymmetry in motor skill that is associated with the use of precision grips.     

Memory skills mediating superior memory in a world-class memorist

Laboratory studies have investigated how individuals with normal memory spans attained digit spans over 80 digits after hundreds of hours of practice. Experimental analyses of their memory skills suggested that their attained memory spans were constrained by the encoding time, for the time needed will increase if the length of digit sequences to be memorised becomes longer. These constraints seemed to be violated by a world-class memorist, Feng Wang (FW), who won the World Memory Championship by recalling 300 digits presented at 1 digit/s. In several studies we examined FW’s memory skills underlying his exceptional performance. First FW reproduced his superior memory span of 200 digits under laboratory condition, and we obtained his retrospective reports describing his encoding/retrieval processes (Experiment 1). Further experiments used self-paced memorisation to identify temporal characteristics of encoding of digits in 4-digit clusters (Experiment 2), and explored memory encoding at presentation speeds much faster than 1 digit/s (Experiment 3). FW’s superiority over previous digit span experts is explained by his acquisition of well-known mnemonic techniques and his training that focused on rapid memorisation. His memory performance supports the feasibility of acquiring memory skills for improved working memory based on storage in long-term memory.     

Priming addition facts with semantic relations

Results from 2 relational-priming experiments suggest the existence of an automatic analogical coordination between semantic and arithmetic relations. Word pairs denoting object sets served as primes in a task that elicits "obligatory" activation of addition facts (5 + 3 activates 8; J. LeFevre, J. Bisanz, & L. Mrkonjic, 1988). Semantic relations between the priming words were either aligned or misaligned with the structure of addition (M. Bassok, V. M. Chase, & S. A. Martin, 1998). Obligatory activation of addition facts occurred when the digits were primed by categorically related words (tulips-daisies), which are aligned with addition, but did not occur when the digits were primed by unrelated words (hens-radios, Experiment 1) or by functionally related words (records-songs, Experiment 2), which are misaligned with addition. These findings lend support to the viability of automatic analogical priming (B. A. Spellman, K. J. Holyoak, & R. G. Morrison, 2001) and highlight the relevance of arithmetic applications to theoretical accounts of mental arithmetic.     

Grip width and the organization of force output

The authors investigated the structure of force production and variability as a function of grip configuration and width during precision grasping. Variability was studied in absolute (standard deviation) and relative (coefficient of variation) terms; in addition, the authors used approximate entropy to examine regularity. In Experiment 1, the participants (N = 14) used a 2-digit grasp (thumb, index), whereas in Experiment 2, the participants (N = 11) used a 3-digit grasp (thumb, index, middle). The level and regularity of force increased with grip width. The amount of variability was least at narrow grip widths for 2-digit grasping and greatest at narrow grip widths for 3-digit grasping. That pattern of findings is not necessitated by the mechanical equilibrium of grasping; thus, it also reflected adaptive neural reorganization of force output to task demands.     

Does selecting one visual object from several require inhibition of the actions associated with nonselected objects?

Four experiments are described in which 1 visual object (the target) was selected from another (the distractor) according to its color (Experiments 1, 2, and 4) or its relative location (Experiment 3) and then was classified according to a simple geometric property. Object classification was signaled as fast as possible by a precision or power grip response, and this grip was either compatible or incompatible with either object. When targets were selected by color, target-compatible grip responses were facilitated, but distractor-compatible grip responses were impaired. When targets were selected by location, similar results were obtained for target-compatible grip responses, but not distractor-compatible grip responses. These data are explained in terms of the involvement of action codes in object-level selection.     

General processes, rather than "goals," explain imitation errors

The goal-directed theory of imitation (GOADI) states that copying of action outcomes (e.g., turning a light switch) takes priority over imitation of the means by which those outcomes are achieved (e.g., choice of effector or grip). The object < effector < grip error pattern in the pen-and-cups task provides strong support for GOADI. Experiment 1 replicated this effect using video stimuli. Experiment 2 showed that shifting the color cue from objects to effectors makes imitation of effector selection more accurate than imitation of object and grip selection. Experiment 3 replicated this result when participants were required to describe actions. Experiment 4 indicated that, when participants are imitating and describing actions, enhancing grip discriminability makes grip selection the most accurately executed component of the task. Consistent with theories that hypothesize that imitation relies on task-general mechanisms (e.g., the associative sequence learning model, ideomotor theory), these findings suggest that imitation is no more or less goal directed than other tasks involving action observation.     

Transfer of recalibration from audition to touch: modality independence as a special case of anatomical independence

An important step in developing a theory of calibration is establishing what it is that participants become calibrated to as a result of feedback. Three experiments used a transfer of calibration paradigm to investigate this issue. In particular, these experiments investigated whether recalibration of perception of length transferred from audition to dynamic (i.e., kinesthetic) touch when objects were grasped at one end (Experiment 1), when objects were grasped at one end and when they were grasped at a different location (i.e., the middle) (Experiment 2), and when false (i.e., inflated) feedback was provided about object length (Experiment 3). In all three experiments, there was a transfer of recalibration of perception of length from audition to dynamic touch when feedback was provided on perception by audition. Such results suggest that calibration is not specific to a particular perceptual modality and are also consistent with previous research that perception of object length by audition and dynamic touch are each constrained by the object's mechanical properties.     

The influence of athletic experience and kinematic information on skill-relevant affordance perception

Humans can perceive affordances both for themselves and for others, and affordance perception is a function of perceptual–motor experience involved in playing a sport. Two experiments investigated the enhanced affordance perception of athletes. In Experiment 1, basketball players and nonbasketball players provided perceptual reports for sports-relevant (maximum standing-reach and reach-with-jump heights) and non-sports-relevant (maximum sitting height) affordances for self and other. Basketball players were more accurate at perceiving maximum reach-with-jump for another person than were nonbasketball players, but were no better at perceiving maximum reach or sitting heights. Experiment 2 investigated the informational basis for this enhanced perceptual ability of basketball players by evaluating whether kinematics inform perceivers about action-scaled (e.g., force-production dependent), but not body-scaled (i.e., geometrically determined), affordances for others, and whether basketball experience enhances sensitivity to kinematic information. Only basketball players improved at perceiving an action-scaled affordance (maximum reach-with-jump), but not body-scaled affordances (maximum standing-reach and sit) with exposure to kinematic information, suggesting that action-scaled affordances may be specified by kinematic information to which athletes are already attuned by virtue of their sport experience.     

The influence of athletic experience and kinematic information on skill-relevant affordance perception

Humans can perceive affordances both for themselves and for others, and affordance perception is a function of perceptual-motor experience involved in playing a sport. Two experiments investigated the enhanced affordance perception of athletes. In Experiment 1, basketball players and nonbasketball players provided perceptual reports for sports-relevant (maximum standing-reach and reach-with-jump heights) and non-sports-relevant (maximum sitting height) affordances for self and other. Basketball players were more accurate at perceiving maximum reach-with-jump for another person than were nonbasketball players, but were no better at perceiving maximum reach or sitting heights. Experiment 2 investigated the informational basis for this enhanced perceptual ability of basketball players by evaluating whether kinematics inform perceivers about action-scaled (e.g., force-production dependent), but not body-scaled (i.e., geometrically determined), affordances for others, and whether basketball experience enhances sensitivity to kinematic information. Only basketball players improved at perceiving an action-scaled affordance (maximum reach-with-jump), but not body-scaled affordances (maximum standing-reach and sit) with exposure to kinematic information, suggesting that action-scaled affordances may be specified by kinematic information to which athletes are already attuned by virtue of their sport experience.     

Exteroception and exproprioception by dynamic touch are different functions of the inertia tensor

When an object is held and wielded, a time-invariant quantity of the wielding dynamics is the inertia tensorIij. The 3 × 3 quantityIij is composed of moments of inertia (on the diagonal) and products of inertia (off the diagonal). Examination ofIij as a function of different locations at which a cylindrical object is grasped revealed that the products related systematically to grip position (a direction), and both the products and moments taken together related systematically to the extent of the rod to one side of the hand (a magnitude in a direction). In two experiments, observers wielded an occluded rod that was held at an intermediate point along its length and reproduced both the felt grip position and partial rod length. In both experiments, perceived grip position was a function of the rod’s products of inertia and perceived partial rod length was a function of the moments and products. Discussion focuses on the specificity of exteroception and exproprioception toIij.