Coordination of three-joint digit movements for rapid finger-thumb grasp

Abstract

Human thumb and index finger kinematics were examined for multiple repetitions of a simple grasp task as a means to evaluate motor planning and execution of these important hand movements. Subjects generated a rapid (approximately 90-ms duration) pinch movement of the index finger and thumb from an open-hand position. Approximately 400 repetitions were obtained from four naive subjects. The two-dimensional trajectory of the fingertip and the angular positions of the metacarpophalangeal (MP) and proximal interphalangeal (PIP) joints of the index finger were recorded along with the angular position of the thumb interphalangeal joint (TH). Individual joint angular positions were transduced using planar electrogoniometers of an exoskeletal linkage design. Except for consistent single-peaked joint angle and digit trajectory velocity profiles, most kinematic features of the grasp varied considerably across trials, including fingertip spatial position at contact, specific finger paths, finger and thumb path distances, finger and thumb peak tangential velocities, and 5) individual joint rotation magnitudes and peak velocities. However, this kinematic variability was not random. Variable TH angular positioning was paralleled by complementary two-dimensional variations in the finger path. These fingertip adjustments were accomplished by actively controlled, reciprocal angular positioning of the MP and PIP joints. Specifically, with natural reductions in thumb flexion, MP flexion was greater while PIP flexion was reduced and vice versa. These adjustments acted to minimize variations in the point contact of the finger on the thumb and yielded a robust and seemingly natural preference for finger-thumb contact at the more distal surfaces of the digits. The kinematic variability was not due to the finger and thumb movements being controlled independently of digit contact. The variable appositional movements of the finger and thumb and the associated contact force were generated as a single action. This was indicated by an absence of kinematic or force adjustments after contact, smooth digit trajectories with a single peak in their tangential velocities, and finger-thumb contact that consistently occurred well after peak velocity. Likewise, because the variability in the kinematics of the grasp was systematic, it apparently was not due simply to sloppiness or noise in motor execution.(ABSTRACT TRUNCATED AT 400 WORDS)