| 1. |
- Edin, Benoni B, et al.
(författare)
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Classification of human muscle stretch receptor afferents : a Bayesian approach.
- 1990
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Ingår i: Journal of Neurophysiology. - 0022-3077 .- 1522-1598. ; 63:6, s. 1314-1322
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Tidskriftsartikel (refereegranskat)abstract
- 1. A sample of 124 human muscle afferents originating from the finger extensor muscles were recorded from the radial nerve in the upper arm. A method is described to formalize the classification of units in muscle spindle primary and secondary afferents and Golgi tendon organ afferents on the basis of a few, nonrigorous assumptions. The classification was based on experimental data that largely have been described in a series of previous papers, although some additional data were collected in the present study. 2. The units were subjected to five tests providing identification data: twitch contraction test, ramp-and-hold stretch, small-amplitude sinusoidal stretches superimposed on ramp stretch, stretch sensitization, and isometric contraction/relaxation. From these five tests the following eight response features were extracted: response to maximal isometric twitch contractions, type of stretch sensitization, correlation between discharge rate and contractile force, response to sudden isometric relaxation, presence or absence of an initial burst, deceleration response, prompt silencing at slow muscle shortening, and driving by small-amplitude sinusoidal stretches. 3. A Bayesian decision procedure was adopted to classify the units on the basis of the eight discriminators. As a first step, units were provisionally classified into muscle spindle primary and secondary afferents, and Golgi tendon organ afferents, by intuitively weighting their responses to the identification tests. Prior probabilities were estimated on the basis of the provisional classification. The eight response features were analyzed and tabulated for all afferents, and the likelihood functions of the tests were directly calculated on the basis of these data.(ABSTRACT TRUNCATED AT 250 WORDS)
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| 2. |
- Edin, Benoni B, et al.
(författare)
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Dynamic response of human muscle spindle afferents to stretch.
- 1990
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Ingår i: Journal of Neurophysiology. - 0022-3077 .- 1522-1598. ; 63:6, s. 1297-1306
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Tidskriftsartikel (refereegranskat)abstract
- 1. One hundred and twenty-four muscle afferents from the finger extensor muscles were recorded from the radial nerve in human subjects. 2. The afferents were provisionally classified as muscle spindle primary (78/124) and secondary afferents (25/124), and Golgi tendon organ afferents (21/124), on the basis of their response to 1) maximal twitch contractions, 2) 20- and 50-Hz sinusoids superimposed on ramp-and-hold stretches, 3) stretch sensitization, and 4) isometric contractions and sudden relaxations. 3. Ramp-and-hold stretches at two velocities, 10 and 50 degrees/s, were applied to the appropriate metacarpophalangeal (MCP) joint while the parent muscle remained relaxed. For each unit three discrete parameters were assessed: the presence or absence of 1) an initial burst at the commencement of the ramp stretch, 2) a deceleration response at the beginning of the hold phase, and 3) a prompt silencing at muscle shortening. In addition, two kinds of dynamic indexes were calculated for 79 of the muscle spindle afferents. 4. Most spindle afferents responded readily to stretch, whereas the Golgi tendon organ afferents produced very poor stretch responses. All of them lacked a static response, whereas the dynamic response, when present at all, consisted of only a few impulses. 5. The dynamic index was higher for spindle primaries than for secondaries, and this difference was statistically significant although the distribution was unimodal for spindle afferents as a group. Hence, this parameter was a poor discriminator. 6. Initial bursts, deceleration responses, and silences during imposed shortening were more common in spindle primaries than in secondaries. The differences were significant in all these respects. 7. The three discrete parameters were statistically pairwise independent for the spindle afferents, justifying the combination of the three into a useful battery for discrimination between primary and secondary spindle afferents and the use of this battery as a partial data base for a probability approach towards a solid classification of human muscle afferents.
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| 3. |
- Edin, Benoni B, et al.
(författare)
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Muscle afferent responses to isometric contractions and relaxations in humans.
- 1990
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Ingår i: Journal of Neurophysiology. - 0022-3077 .- 1522-1598. ; 63:6, s. 1307-1313
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Tidskriftsartikel (refereegranskat)abstract
- 1. One hundred and two single afferents from the finger extensor muscles of humans were studied with the microneurography technique. 2. The afferents were provisionally classified as primary muscle spindle afferents (62/102), secondary spindle afferents (22), and Golgi tendon organ afferents (18) on the basis of their responses to four tests: 1) ramp-and-hold stretch, 2) 20- and 50-Hz small-amplitude sinusoidal stretch superimposed on ramp-and-hold stretch, 3) maximal isometric twitch contraction, and 4) stretch sensitization. 3. The response profiles of the three unit types were analyzed during slowly rising isometric contraction terminating with an abrupt relaxation. About 75% (61/84) of all muscle spindle afferents increased their discharge during isometric contraction, whereas the discharge was reduced for the remaining afferents. All Golgi tendon organs increased their discharge during the contraction. 4. The level of extrafusal contraction at which a spindle afferent increased its discharge rate often varied from trial to trial, speaking against a fixed fusimotor recruitment level of the individual spindle ending. 5. In 70% of the spindle afferents, a distinct burst of impulses appeared when the subject rapidly relaxed after the isometric contraction. The burst was more common and usually much more prominent with primary than secondary afferents, often reaching instantaneous discharge rates well above 100 Hz. 6. Whereas all Golgi tendon organ afferents displayed an increased discharge during the contraction phase, only one of them exhibited a rate acceleration close to the relaxation phase. However, this response could clearly be identified as being of different nature than the spindle bursts.(ABSTRACT TRUNCATED AT 250 WORDS)
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| 4. |
- Edin, Benoni B, et al.
(författare)
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Stretch sensitization of human muscle spindles.
- 1988
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Ingår i: Journal of Physiology. - 0022-3751 .- 1469-7793. ; 400, s. 101-11
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Tidskriftsartikel (refereegranskat)abstract
- 1. Sixty-seven afferents from the finger extensor muscles were consecutively recorded by microneurography. 2. The units were classified as primary or secondary muscle spindle afferents or Golgi tendon organ afferents on the basis of their responses to ramp-and-hold stretches, sinusoidals superimposed on ramp-and-hold stretches, maximal twitch contractions and isometric contractions and relaxations. 3. The muscle was repeatedly stretched and then either kept short or long for a few seconds followed by a slow ramp stretch. The responses of the muscle afferents to the slow stretch were compared under the two conditions. 4. Thirty out of thirty-eight units classified as primary spindle afferents and four out of eleven units classified as secondary afferents showed an enhanced response to the slow ramp when the muscle had been kept short compared to the response when the muscle had been kept long. 5. None of the eighteen Golgi tendon organ afferents showed any difference in this respect. 6. It is concluded that stretch sensitization does occur in human muscle spindles and, when present, constitutes firm evidence of the afferent originating from a muscle spindle rather than a Golgi tendon organ. In addition, due to differences in the response characteristics of primaries and secondaries, the test may aid in separating muscle spindle primary afferents from secondary afferents.
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| 5. |
- Edin, Benoni B, et al.
(författare)
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Twitch contraction for identification of human muscle afferents.
- 1987
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Ingår i: Acta Physiologica Scandinavica. - 0001-6772 .- 1365-201X. ; 131:1, s. 129-138
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Tidskriftsartikel (refereegranskat)abstract
- A classical test to differentiate between Golgi tendon organs and muscle spindles is the twitch contraction elicited by electrical stimulation. The possibility of producing maximal twitches in the finger extensor muscles using surface stimulation over the muscle belly was investigated as well as the feasibility of the test in microneurography experiments. Electrical stimuli were applied either over the muscle in the forearm or the radial nerve in the upper arm, while the resulting torque output at single metacarpophalangeal joints was measured. The relationship between current intensity and maximal contraction force was determined and stimulus response plots were constructed over a large range of current intensities. Stimulation of the radial nerve always yielded plots with a steep and monotonous rising limb up to a plateau. It was concluded that the plateau represented maximal twitch contractions. With transcutaneous stimulation over the muscle belly, the stimulus response plots were usually more complex. However, this could be explained by force transmission through the intertendinous connections on the dorsum of the hand and by antagonist activation. It was concluded that maximal twitch contractions can readily be elicited in the human extensor digitorum muscle with nonpainful transcutaneous electrical stimulations. Moreover, maximal twitches are compatible with single unit recording from muscle afferents in microneurography experiments.
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| 6. |
- Birznieks, Ingvars, et al.
(författare)
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Mechanisms for force adjustments to unpredictable frictional changes at individual digits during two-fingered manipulation.
- 1998
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Ingår i: Journal of Neurophysiology. - 0022-3077 .- 1522-1598. ; 80:4, s. 1989-2002
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Tidskriftsartikel (refereegranskat)abstract
- Previous studies on adaptation of fingertip forces to local friction at individual digit-object interfaces largely focused on static phases of manipulative tasks in which humans could rely on anticipatory control based on the friction in previous trials. Here we instead analyze mechanisms underlying this adaptation after unpredictable changes in local friction between consecutive trials. With the tips of the right index and middle fingers or the right and left index fingers, subjects restrained a manipulandum whose horizontal contact surfaces were located side by side. At unpredictable moments a tangential force was applied to the contact surfaces in the distal direction at 16 N/s to a plateau at 4 N. The subjects were free to use any combination of normal and tangential forces at the two fingers, but the sum of the tangential forces had to counterbalance the imposed load. The contact surface of the right index finger was fine-grained sandpaper, whereas that of the cooperating finger was changed between sandpaper and the more slippery rayon. The load increase automatically triggered normal force responses at both fingers. When a finger contacted rayon, subjects allowed slips to occur at this finger during the load force increase instead of elevating the normal force. These slips accounted for a partitioning of the load force between the digits that resulted in an adequate adjustment of the normal:tangential force ratios to the local friction at each digit. This mechanism required a fine control of the normal forces. Although the normal force at the more slippery surface had to be comparatively low to allow slippage, the normal forces applied by the nonslipping digit at the same time had to be high enough to prevent loss of the manipulandum. The frictional changes influenced the normal forces applied before the load ramp as well as the size of the triggered normal force responses similarly at both fingers, that is, with rayon at one contact surface the normal forces increased at both fingers. Thus to independently adapt fingertip forces to the local friction the normal forces were controlled at an interdigital level by using sensory information from both engaged digits. Furthermore, subjects used both short- and long-term anticipatory mechanisms in a manner consistent with the notion that the central nervous system (CNS) entertains internal models of relevant object and task properties during manipulation.
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| 7. |
- Burstedt, Magnus K, et al.
(författare)
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Control of forces applied by individual fingers engaged in restraint of an active object.
- 1997
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Ingår i: Journal of Neurophysiology. - 0022-3077 .- 1522-1598. ; 78:1, s. 117-128
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Tidskriftsartikel (refereegranskat)abstract
- We investigated the coordination of fingertip forces in subjects who used the tips of two fingers to restrain an instrumented manipulandum with horizontally oriented grip surfaces. The grip surfaces were subjected to tangential pulling forces in the distal direction in relation to the fingers. The subjects used either the right index and middle fingers (unimanual grasp) or both index fingers (bimanual grasp) to restrain the manipulandum. To change the frictional condition at the digit-object interfaces, either both grip surfaces were covered with sandpaper or one was covered with sandpaper and the other with rayon. The forces applied normally and tangentially to the grip surfaces were measured separately at each plate along with the position of the plates. Subjects could have performed the present task successfully with many different force distributions between the digits. However, they partitioned the load in a manner that reflected the frictional condition at the local digit-object interfaces. When both digits contacted sandpaper, they typically partitioned the load symmetrically, but when one digit made contact with rayon and the other with sandpaper, the digit contacting the less slippery material (sandpaper) took up a larger part of the load. The normal forces were also influenced by the frictional condition, but they reflected the average friction at the two contact sites rather than the local friction. That is, when friction was low at one of the digit-object interfaces, only the applied normal forces increased at both digits. Thus sensory information related to the local frictional condition at the respective digit-object interfaces controlled the normal force at both digits. The normal:tangential force ratio at each digit appeared to be a controlled variable. It was adjusted independently at each digit to the minimum ratio required to prevent frictional slippage, keeping an adequate safety margin against slippage. This was accomplished by the scaling of the normal forces to the average friction and by partitioning of the load according to frictional differences between the digit-object interfaces. In conclusion, by adjusting the normal:tangential force ratios to the local frictional condition, subjects avoided excessive normal forces at the individual digit-object interfaces, and by partitioning the load according the frictional difference, subjects avoided high normal forces. Thus the local frictional condition at the separate digit-object interfaces is one factor that can strongly influence the distribution of forces across digits engaged in a manipulative act.
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| 8. |
- Burstedt, Magnus K, et al.
(författare)
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Coordination of fingertip forces during human manipulation can emerge from independent neural networks controlling each engaged digit.
- 1997
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Ingår i: Experimental Brain Research. - : Springer Science and Business Media LLC. - 0014-4819 .- 1432-1106. ; 117:1, s. 67-79
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Tidskriftsartikel (refereegranskat)abstract
- We investigated the coordination of fingertip forces in subjects who lifted an object (i) using the index finger and thumb of their right hand, (ii) using their left and right index fingers, and (iii) cooperatively with another subject using the right index finger. The forces applied normal and tangential to the two parallel grip surfaces of the test object and the vertical movement of the object were recorded. The friction between the object and the digits was varied independently at each surface between blocks of trials by changing the materials covering the grip surfaces. The object's weight and surface materials were held constant across consecutive trials. The performance was remarkably similar whether the task was shared by two subjects or carried out unimanually or bimanually by a single subject. The local friction was the main factor determining the normal:tangential force ratio employed at each digit-object interface. Irrespective of grasp configuration, the subjects adapted the force ratios to the local frictional conditions such that they maintained adequate safety margins against slips at each of the engaged digits during the various phases of the lifting task. Importantly, the observed force adjustments were not obligatory mechanical consequences of the task. In all three grasp configurations an incidental slip at one of the digits elicited a normal force increase at both engaged digits such that the normal:tangential force ratio was restored at the non-slipping digit and increased at the slipping digit. The initial development of the fingertip forces prior to object lift-off revealed that the subjects employed digit-specific anticipatory mechanisms using weight and frictional experiences in the previous trial. Because grasp stability was accomplished in a similar manner whether the task was carried out by one subject or cooperatively by two subjects, it was concluded that anticipatory adjustments of the fingertip forces can emerge from the action of anatomically independent neural networks controlling each engaged digit. In contrast, important aspects of the temporal coordination of the digits was organized by a "higher level" sensory-based control that influenced both digits. In lifts by single subjects this control was mast probably based on tactile and visual input and on communication between neural control mechanisms associated with each digit. In the two-subject grasp configuration this synchronization information was based on auditory and visual cues.
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| 9. |
- Carrozza, M, et al.
(författare)
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Design of a cybernetic hand for perception and action.
- 2006
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Ingår i: Biol Cybern. - : Springer Science and Business Media LLC. - 0340-1200. ; 95:6, s. 629-644
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Tidskriftsartikel (refereegranskat)abstract
- Strong motivation for developing new prosthetic hand devices is provided by the fact that low functionality and controllability-in addition to poor cosmetic appearance-are the most important reasons why amputees do not regularly use their prosthetic hands. This paper presents the design of the CyberHand, a cybernetic anthropomorphic hand intended to provide amputees with functional hand replacement. Its design was bio-inspired in terms of its modular architecture, its physical appearance, kinematics, sensorization, and actuation, and its multilevel control system. Its underactuated mechanisms allow separate control of each digit as well as thumb-finger opposition and, accordingly, can generate a multitude of grasps. Its sensory system was designed to provide proprioceptive information as well as to emulate fundamental functional properties of human tactile mechanoreceptors of specific importance for grasp-and-hold tasks. The CyberHand control system presumes just a few efferent and afferent channels and was divided in two main layers: a high-level control that interprets the user's intention (grasp selection and required force level) and can provide pertinent sensory feedback and a low-level control responsible for actuating specific grasps and applying the desired total force by taking advantage of the intelligent mechanics. The grasps made available by the high-level controller include those fundamental for activities of daily living: cylindrical, spherical, tridigital (tripod), and lateral grasps. The modular and flexible design of the CyberHand makes it suitable for incremental development of sensorization, interfacing, and control strategies and, as such, it will be a useful tool not only for clinical research but also for addressing neuroscientific hypotheses regarding sensorimotor control.
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| 10. |
- Chen, Nutan, et al.
(författare)
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Estimating Fingertip Forces, Torques, and Local Curvatures from Fingernail Images
- 2020
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Ingår i: Robotica (Cambridge. Print). - : Cambridge University Press. - 0263-5747 .- 1469-8668. ; 38:7, s. 1242-1262
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Tidskriftsartikel (refereegranskat)abstract
- The study of dexterous manipulation has provided important insights into human sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions. Here, we describe a method using the deformation and color distribution of the fingernail and its surrounding skin to estimate the fingertip forces, torques, and contact surface curvatures for various objects, including the shape and material of the contact surfaces and the weight of the objects. The proposed method circumvents limitations associated with sensorized objects, gloves, or fixed contact surface type. In addition, compared with previous single finger estimation in an experimental environment, we extend the approach to multiple finger force estimation, which can be used for applications such as human grasping analysis. Four algorithms are used, c.q., Gaussian process, convolutional neural networks, neural networks with fast dropout, and recurrent neural networks with fast dropout, to model a mapping from images to the corresponding labels. The results further show that the proposed method has high accuracy to predict force, torque, and contact surface.
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