Human control of a simple two-hand grasp.
We investigated how people control fast, accurate movements of a load using a simple two-hand grasp. By providing a clear instruction to several subjects, we isolated a single control strategy. The kinematics produced by this control strategy are nearly indistinguishable from those produced during singlehand movements, but the torques are quite different: one hand accelerates not only itself, but also the load and the other hand, while the other hand brakes the hand-load-hand system. As a result, the hands squeeze the load with a large force during the movement. The dynamics of the hand-load-hand system are of the same form as the dynamics of a single-hand system. Apparently, by taking advantage of this dynamic similarity and of the spring-like properties of muscle, the human motor control system can control the two-hand grasp system simply by modifying the muscle activation patterns used to control single-hand movements. The task dynamics of two-hand grasp do not require that the load be squeezed during the movement, and squeezing the load wastes torque that could be used to move more quickly. However, the human motor control system may choose this squeezing strategy because it reliably brakes the hand-load-hand system despite inherent variability in the braking of individual hands.
Reinkensmeyer
D J
DJ
Department of Electrical Engineering and Computer Science, University of California, Berkeley 94720.
Lum
P S
PS
Lehman
S L
SL
D000054:Acceleration; D001696:Biomechanical Phenomena; D003491:Cybernetics; D006225:Hand / Q000502:physiology*; D006801:Humans; D009068:Movement / Q000502:physiology*; D009469:Neuromuscular Junction / Q000502:physiology; D012371:Robotics