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Friedman, Jason; Flash, Tamar |
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Title |
Task-dependent selection of grasp kinematics and stiffness in human object manipulation |
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2007 |
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Cortex |
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43 |
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3 |
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444-460 |
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Object manipulation with the hand is a complex task. The task has redundancies at many levels, allowing many possibilities for the selection of grasp points, the orientation and posture of the hand, the forces to be applied at each fingertip and the impedance properties of the hand. Despite this inherent complexity, humans perform object manipulation nearly effortlessly. This article presents experimental findings of how humans grasp and manipulate objects, and examines the compatibility of grasps selected for specific tasks. This is accomplished by looking at the velocity transmission and force transmission ellipsoids, which represent the transmission ratios of the corresponding quantity from the joints to the object, as well as the stiffness ellipsoid which represents the directional stiffness of the grasp. These ellipsoids allow visualization of the grasp Jacobian and grasp stiffness matrices. The results show that the orientation of the ellipsoids can be related to salient task requirements. |
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Penn State @ write.to.jason @ |
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14 |
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Author |
Friedman, J; Latash, M.L.; Zatsiorsky, V.M. |
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Title |
Directional variability of the isometric force vector produced by the hand in multi-joint planar tasks |
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2011 |
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Journal of Motor Behavior |
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43 |
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6 |
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451-463 |
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Numerous studies have examined control of force magnitude, but relatively little research has considered force direction control. In this study, subjects applied isometric forces to a handle and we compared within-trial variability when producing force in different directions. The standard deviation (SD) of the force parallel to the prescribed direction of force production increased linearly with the targeted force level, as did the SD of the force perpendicular to the instructed direction. In contrast, the SD of the angle of force production decreased with increased force level. In the four (of eight) instructed force directions where the endpoint force was generated due to a joint torque in only one joint (either the shoulder or elbow) the principal component axes in force space were well aligned with the prescribed direction of force production. In the other directions, the variance was approximately equal along the two force axes. The variance explained by the first principal component was significantly larger in torque space compared to the force space, and mostly corresponded to positive correlation between the joint torques. Such coordinated changes suggest that the torque variability was mainly due to the variability of the common drive to the muscles serving two joints, although this statement needs to be supported by direct studies of muscle activation in the future. |
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Penn State @ write.to.jason @ |
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26 |
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Friedman, Jason; Flash, Tamar |
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Title |
Trajectory of the index finger during grasping |
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Journal Article |
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2009 |
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Experimental Brain Research |
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Exp Brain Res |
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196 |
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4 |
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497-509 |
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The trajectory of the index finger during grasping movements was compared to the trajectories predicted by three optimization-based models. The three models consisted of minimizing the integral of the weighted squared joint derivatives along the path (inertia-like cost), minimizing torque change, and minimizing angular jerk. Of the three models, it was observed that the path of the fingertip and the joint trajectories, were best described by the minimum angular jerk model. This model, which does not take into account the dynamics of the finger, performed equally well when the inertia of the finger was altered by adding a 20 g weight to the medial phalange. Thus, for the finger, it appears that trajectories are planned based primarily on kinematic considerations at a joint level. |
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Department of Computer Science and Applied Mathematics, Weizmann Institute of Science, Rehovot, Israel, write.to.jason@gmail.com |
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1432-1106 |
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PMID:19521692 |
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Penn State @ write.to.jason @ |
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17 |
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Author |
Noy, L.; Weiser, N.; Friedman, J. |
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Title |
Synchrony in Joint Action Is Directed by Each Participant's Motor Control System |
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2017 |
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Frontiers in Psychology |
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Front. Psychol. |
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8 |
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531 |
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visuomotor tracking; mirror game; intermittent control; joint action; motor control |
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In this work, we ask how the probability of achieving synchrony in joint action is affected by the choice of motion parameters of each individual. We use the mirror game paradigm to study how changes in leader�s motion parameters, specifically frequency and peak velocity, affect the probability of entering the state of co-confidence (CC) motion: a dyadic state of synchronized, smooth and co-predictive motions. In order to systematically study this question, we used a one-person version of the mirror game, where the participant mirrored piece-wise rhythmic movements produced by a computer on a graphics tablet. We systematically varied the frequency and peak velocity of the movements to determine how these parameters affect the likelihood of synchronized joint action. To assess synchrony in the mirror game we used the previously developed marker of co-confident (CC) motions: smooth, jitter-less and synchronized motions indicative of co-predicative control. We found that when mirroring movements with low frequencies (i.e., long duration movements), the participants never showed CC, and as the frequency of the stimuli increased, the probability of observing CC also increased. This finding is discussed in the framework of motor control studies showing an upper limit on the duration of smooth motion. We confirmed the relationship between motion parameters and the probability to perform CC with three sets of data of open-ended two-player mirror games. These findings demonstrate that when performing movements together, there are optimal movement frequencies to use in order to maximize the possibility of entering a state of synchronized joint action. It also shows that the ability to perform synchronized joint action is constrained by the properties of our motor control systems. |
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1664-1078 |
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84 |
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Portnoy, S.; Rosenberg, L.; Alazraki, T.; Elyakim, E.; Friedman, J. |
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Differences in Muscle Activity Patterns and Graphical Product Quality in Children Copying and Tracing Activities on Horizontal or Vertical Surfaces |
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2015 |
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Journal of Electromyography and Kinesiology |
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Journal of Electromyography and Kinesiology |
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25 |
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3 |
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540�547 |
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Motor equivalence; Electromyography; Tablet; Occupational Therapy; Muscle fatigue; Motor control |
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The observation that a given task, e.g. producing a signature, looks similar when created by different motor commands and different muscles groups is known as motor equivalence. Relatively little data exists regarding the characteristics of motor equivalence in children. In this study, we compared the level of performance when performing a tracing task and copying figures in two common postures: while sitting at a desk and while standing in front of a wall, among preschool children. In addition, we compared muscle activity patterns in both postures. Specifically, we compared the movements of 35 five- to six-year old children, recording the same movements of copying figures and path tracing on an electronic tablet in both a horizontal orientation, while sitting, and a vertical orientation, while standing. Different muscle activation patterns were observed between the postures, however no significant difference in the performance level was found, providing evidence of motor equivalence at this young age. The study presents a straightforward method of assessing motor equivalence that can be extended to other stages of development as well as motor disorders. |
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1050-6411 |
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77 |
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