Title :
Simultaneous measurement of the grip/load force and the finger EMG: Effects of the grasping condition
Author :
Kurita, Yuichi ; Tada, Mitsunori ; Matsumoto, Yoshio ; Ogasawara, Tsukasa
Author_Institution :
Nara Inst. of Sci. & Technol., Japan
Abstract :
Human has efficient grasping strategies, such as the anticipatory force programming, using the somatic sensation of the various properties of the object. However, it is not clear how the object´s weight and grasping condition affect the motor outputs during the grasping motion. In this paper, the grip/load force and the surface electromyography (EMG) of abductor pollicis brevis muscle (AbPB) and adductor pollicis muscle (AdP) are measured simultaneously to investigate the relation between the object´s weight and the motor outputs. The experimental results show that the changes of the weight affect the initial peak grip force. However, the grasping condition affects the motor outputs in the precontact phase measured by the AbPB EMG. These results suggest that the anticipatory force programming largely depends on not only the object´s properties but also the grasping condition.
Keywords :
dexterous manipulators; electromyography; AbPB; AdP; EMG; abductor pollicis brevis muscle; adductor pollicis muscle; anticipatory force programming; finger EMG; grasping condition; grasping motion; grip/load force; motor outputs; peak grip force; pre-contact phase; somatic sensation; surface electromyography; Electromyography; Fingers; Force control; Force measurement; Grasping; Humans; Motion measurement; Muscles; Thumb; Timing;
Conference_Titel :
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN :
0-7803-7545-9
DOI :
10.1109/ROMAN.2002.1045625