The assistive potential of functional electrical stimulation to support object manipulation in functional upper extremity movements after stroke: A randomized cross-over study.

Background: After standard care, 55%-75% of patients after stroke show a persistent paresis of the upper limb (UL). Assistive devices are developed to increase the patients' level of independence in daily life. Objectives: To investigate the potential of Functional Electrical Stimulation (FES) to assist object manipulation in activities of daily life. Design: Seventeen patients after stroke were tested and analyzed in a randomized cross-over design. Methods: Functional grasping was assessed by means of the Action Research Arm Test (ARAT) and the modified Box and Block Test (mBBT), in one session with and another without FES assistance. The order of sessions was randomized. Patients' motivation was assessed after each session. Task performance and motivation were compared between conditions using the Wilcoxon test and subgroup analyses were performed for impairment severity by distribution-based mixed-factor analyses. Results: When analyzing the total ARAT, FES did not effectively assist the overall performance (P = .142), but did assist the performance of objects of the Grasp category (P = .020). Impairment severity showed an interaction with the orthotic effect (P = .012), as severely impaired patients profited from FES assistance and mild-moderately impaired did not. When focusing on the more functional items of the ARAT (i.e., excluding scores from thumb-middle and thumb-ring finger combinations), there was a significant orthotic effect of FES on task performance (P = .023). Further, there was an orthotic effect for the number of transported blocks in the mBBT (P = .033), exclusively prominent in the group of severely impaired patients. Functional Electrical Stimulation did not increase the patients' motivation (P = .959), which was high after both conditions. Conclusion: Functional Electrical Stimulation has the potential to support object manipulation, but is dependent on impairment severity and object type. To observe a consistent orthotic effect, features of the stimulator should be further developed to generate appropriate grasps and forces across subjects and objects. Trial Registration: The trial was registered with the German Clinical Trials Register (DRKS00025889).

Relative contribution of sensory and motor deficits on grip force control in patients with chronic stroke.

OBJECTIVE: This study aimed to characterize grasping behavior in static (weight-dependent modulation and stability of control) and dynamic (predictive control) aspects specifically focusing on the relative contribution of sensory and motor deficits to grip force control in patients with chronic stroke. METHODS: Twenty-four chronic stroke patients performed three manipulative tasks: five trials of 5-s grasp-lift-holding, 30-s static holding, and vertical dynamic/cyclic oscillation of holding the object. RESULTS: Exerted static grip force on the paretic side exhibited statistically greater than that on the non-paretic side. Spearman's rank correlation coefficient revealed that the contribution to static grip force control was larger in sensory deficits than in motor deficits. In addition, the sensory deficit is related to the reduced coupling between grip force and load force, suggesting difficulty in predictive control due to the absence of sensory feedback. CONCLUSIONS: Given that grip force control involves predictive feedforward and online feedback control, the evaluation of grip force might be an important and feasible evaluation manner for the assessment of sensorimotor control in patients post-stroke. SIGNIFICANCE: Detailed evaluation of grip force control would help to understand the mechanisms underlying hand dysfunction in stroke patients.

Constrained Origami Artificial Muscle-Driven Robotic Manipulator Capable of Coordinating Twisting and Grasping Motions for Object Manipulation.

Grasping and twisting motions are vital when manipulating objects due to their fundamental role in enabling precision, adaptability, and effective interaction. However, few studies in soft robotics exploiting artificial muscles have achieved object manipulation in situ through the coordination of twisting and grasping motions akin to our forearm and hand's capabilities. Especially, when using the same artificial muscle module to achieve these two motions will greatly simplify the manufacturing and control complexity. Here, we introduce identical origami artificial muscle modules (OAMMs) subjected to distinct end constraints into the design of the robotic manipulator, allowing it to achieve independent grasping and twisting motions to achieve effective, precise object manipulation. Applying different end constraints to the identical OAMMs yields distinct motions at their ends, where utilizing a fixed end and a sliding end realizes pure translation, while opting for a fixed end and a rotating end enables pure rotation. The differentially constrained OAMMs then serve as soft actuators for the manipulator's torsional mechanism and grasping mechanism to accomplish independent, controllable twisting and grasping motions. The coordination of twisting and grasping motions finally enables the manipulator to complete various tasks, including installing a light bubble, pouring the water from a lidded bottle into a cup, and sorting and stacking puzzle blocks. Our study pioneers the utilization of OAMMs for precise and versatile object manipulation through the coordination of independent twisting and grasping motions.

Thinking on your feet: Anticipatory foot placements in repeated bimanual object displacements.

Effective handling of objects requires proper use of the hands. If the object handling is done while standing or walking, it also requires proper use of the feet. We asked how people position their feet to meet future and ongoing object-handling demands. In previous research on this topic, participants walked to a table and picked up an object for a single displacement from one place to another. These studies shed light on sensitivity to kinematics but, strictly speaking, may not have revealed anything about sensitivity to dynamics. In the present study, we asked participants to walk to a table to move an object back and forth over different distances and at different rates. Prior to walking to the table, participants had full knowledge of what the task would be. By using a rhythmic rather than discrete object placement task, we could analyze participants' sensitivity to dynamics as well as kinematics. Consistent with our expectation that participants would tune their foot separations to demands related to dynamics, we found that stance width was wider for long than for short object displacements and was more pronounced for high displacement rates than for low displacement rates. Also consistent with our expectations about planning, these effects were evident as soon as participants reached the table. Our results add to the limited research on coordinated action of the hands and feet in purposeful object manipulation.

Trajectories and Forces in Four-Electrode Chambers Operated in Object-Shift, Dielectrophoresis and Field-Cage Modes-Considerations from the System's Point of View.

In two previous papers, we calculated the dielectrophoresis (DEP) force and corresponding trajectories of high- and low-conductance 200-µm 2D spheres in a square 1 × 1-mm chamber with plane-versus-pointed, plane-versus-plane and pointed-versus-pointed electrode configurations by applying the law of maximum entropy production (LMEP) to the system. Here, we complete these considerations for configurations with four-pointed electrodes centered on the chamber edges. The four electrodes were operated in either object-shift mode (two adjacent electrodes opposite the other two adjacent electrodes), DEP mode (one electrode versus the other three electrodes), or field-cage mode (two electrodes on opposite edges versus the two electrodes on the other two opposite edges). As in previous work, we have assumed DC properties for the object and the external media for simplicity. Nevertheless, every possible polarization ratio of the two media can be modeled this way. The trajectories of the spherical centers and the corresponding DEP forces were calculated from the gradients of the system's total energy dissipation, described by numerically-derived conductance fields. In each of the three drive modes, very high attractive and repulsive forces were found in front of pointed electrodes for the high and low-conductance spheres, respectively. The conductance fields predict bifurcation points, watersheds, and trajectories with multiple endpoints. The high and low-conductance spheres usually follow similar trajectories, albeit with reversed orientations. In DEP drive mode, the four-point electrode chamber provides a similar area for DEP measurements as the classical plane-versus-pointed electrode chamber.

Fast Feedback Responses to Categorical Sensorimotor Errors That Do Not Indicate Error Magnitude Are Optimized Based on Short- and Long-Term Memory.

Skilled motor performance depends critically on rapid corrective responses that act to preserve the goal of the movement in the face of perturbations. Although it is well established that the gain of corrective responses elicited while reaching toward objects adapts to different contexts, little is known about the adaptability of corrective responses supporting the manipulation of objects after they are grasped. Here, we investigated the adaptability of the corrective response elicited when an object being lifted is heavier than expected and fails to lift off when predicted. This response involves a monotonic increase in vertical load force triggered, within ∼90 ms, by the absence of expected sensory feedback signaling lift off and terminated when actual lift off occurs. Critically, because the actual weight of the object cannot be directly sensed at the moment the object fails to lift off, any adaptation of the corrective response would have to be based on memory from previous lifts. We show that when humans, including men and women, repeatedly lift an object that on occasional catch trials increases from a baseline weight to a fixed heavier weight, they scale the gain of the response (i.e., the rate of force increase) to the heavier weight within two to three catch trials. We also show that the gain of the response scales, on the first catch trial, with the baseline weight of the object. Thus, the gain of the lifting response can be adapted by both short- and long-term experience. Finally, we demonstrate that this adaptation preserves the efficacy of the response across contexts.SIGNIFICANCE STATEMENT Here, we present the first investigation of the adaptability of the corrective lifting response elicited when an object is heavier than expected and fails to lift off when predicted. A striking feature of the response, which is driven by a sensory prediction error arising from the absence of expected sensory feedback, is that the magnitude of the error is unknown. That is, the motor system only receives a categorical error indicating that the object is heavier than expected but not its actual weight. Although the error magnitude is not known at the moment the response is elicited, we show that the response can be scaled to predictions of error magnitude based on both recent and long-term memories.

Tool mastering today - an interdisciplinary perspective.

Tools have coined human life, living conditions, and culture. Recognizing the cognitive architecture underlying tool use would allow us to comprehend its evolution, development, and physiological basis. However, the cognitive underpinnings of tool mastering remain little understood in spite of long-time research in neuroscientific, psychological, behavioral and technological fields. Moreover, the recent transition of tool use to the digital domain poses new challenges for explaining the underlying processes. In this interdisciplinary review, we propose three building blocks of tool mastering: (A) perceptual and motor abilities integrate to tool manipulation knowledge, (B) perceptual and cognitive abilities to functional tool knowledge, and (C) motor and cognitive abilities to means-end knowledge about tool use. This framework allows for integrating and structuring research findings and theoretical assumptions regarding the functional architecture of tool mastering via behavior in humans and non-human primates, brain networks, as well as computational and robotic models. An interdisciplinary perspective also helps to identify open questions and to inspire innovative research approaches. The framework can be applied to studies on the transition from classical to modern, non-mechanical tools and from analogue to digital user-tool interactions in virtual reality, which come with increased functional opacity and sensorimotor decoupling between tool user, tool, and target. By working towards an integrative theory on the cognitive architecture of the use of tools and technological assistants, this review aims at stimulating future interdisciplinary research avenues.

Beak shape and nest material use in birds.

The evolution of behaviour can both influence, and be influenced by, morphology. Recent advances in methods and data availability have facilitated broad-scale investigations of physical form and behavioural function in many contexts, but the relationship between animal morphology and object manipulation-particularly objects used in construction-remains largely unknown. Here, we employ a new global database of nest materials used by 5924 species of birds together with phylogenetically informed random forest models to evaluate the link between beak shape and these nest-building materials. We find that beak morphology, together with species diet and access to materials, can predict nest-material use above chance and with high accuracy (68-97%). Much of this relationship, however, is driven by phylogenetic signal and sampling biases. We therefore conclude that while variation in nest material use is linked with that of beak shape across bird species, these correlations are modulated by the ecological context and evolutionary history of these species. This article is part of the theme issue 'The evolutionary ecology of nests: a cross-taxon approach'.

ManiLoco: A VR-Based Locomotion Method for Concurrent Object Manipulation.

The use of virtual reality (VR) in laboratory skill training is rapidly increasing. In such applications, users often need to explore a large virtual environment within a limited physical space while completing a series of hand-based tasks (e.g., object manipulation). However, the most widely used controller-based teleport methods may conflict with the users' hand operation and result in a higher cognitive load, negatively affecting their training experiences. To alleviate these limitations, we designed and implemented a locomotion method called ManiLoco to enable hands-free interaction and thus avoid conflicts and interruptions from other tasks. Users can teleport to a remote object's position by taking a step toward the object while looking at it. We evaluated ManiLoco and compared it with state-of-the-art Point & Teleport in a within-subject experiment with 16 participants. The results confirmed the viability of our foot- and head-based approach and better support concurrent object manipulation in VR training tasks. Furthermore, our locomotion method does not require any additional hardware. It solely relies on the VR head-mounted display (HMD) and our implementation of detecting the user's stepping activity, and it can be easily applied to any VR application as a plugin.

Visual information following object grasp supports digit position variability and swift anticipatory force control.

Anticipatory force control underlying dexterous manipulation has historically been understood to rely on visual object properties and on sensorimotor memories associated with previous experiences with similar objects. However, it is becoming increasingly recognized that anticipatory force control also relies on how an object is grasped. Experiments that allow unconstrained grasp contact points when preventing tilting an object with an off-centered mass show trial-to-trial variations in digit position and subsequent scaling of lift forces, all before feedback of object properties becomes available. Here, we manipulated the availability of visual information before reach onset and after grasp contact (with no vision during the reach) to determine the contribution and timing of visual information processing to the scaling of fingertip forces during dexterous manipulation at flexible contact points. Results showed that anticipatory force control was similarly successful, quantified as an appropriate compensatory torque at lift onset that counters the external torque of an object with a left and right center of mass, irrespective of the timing and availability of visual information. However, the way in which anticipatory force control was achieved varied depending on the availability of visual information. Visual information following grasp contact was associated with greater use of an asymmetric thumb and index finger grasp configuration to generate a compensatory torque and digit position variability, together with faster fingertip force scaling and sensorimotor learning. This result supports the hypothesis that visual information at a critical and functionally relevant time point following grasp contact supports variable and swift digit-based force control for dexterous object manipulation.NEW & NOTEWORTHY Humans excel in dexterous object manipulation by precisely coordinating grasp points and fingertip forces, highlighted in scenarios requiring countering object torques in advance, e.g., lifting a teacup without spilling will demand a unique digit force pattern based on the grip configuration at lift onset. Here, we show that visual information following grasp contact, a critical and functionally relevant time point, supports digit position variability and swift anticipatory force control to achieve a dexterous motor goal.

Bioinspired Wire-on-Pillar Magneto-Responsive Superhydrophobic Arrays.

Versatile surfaces demonstrating multiple interfacial functionalities are highly demanded as a surface typically serves various duties and faces multiple challenges in real practice. However, such versatile surfaces are rarely reported mainly due to the challenges in integrating multiple structural characteristics. Here, by mimicking lotus leaves, butterfly wing, and respiratory cilia, we develop a surface termed wire-on-pillar magneto-responsive superhydrophobic arrays (WP-MRSA), which possess interfacial properties of structural superhydrophobicity, anisotropicity, stimuli responsiveness, and flexibility. By combining soft lithography and self-alignment of iron-laden aerosols under a magnetic field, iron-laden wires are planted atop prefabricated pillar arrays, resulting in well-ordered, sparse, high-aspect-ratio, flexible, and superhydrophobic wires, which largely deflect in response to a magnetic field. This unique integration of structural properties and configurations enables various functionalities, such as on-demand control of droplet impact dynamics, real-time regulation of surface lateral adhesion force, fast removal and sorting of objects, and precise manipulation of droplets for selective reactions. Those functionalities benefit various applications especially droplet-based microfluidics and active self-cleaning surfaces.

Exploring Tactile Temporal Features for Object Pose Estimation during Robotic Manipulation.

Dexterous robotic manipulation tasks depend on estimating the state of in-hand objects, particularly their orientation. Although cameras have been traditionally used to estimate the object's pose, tactile sensors have recently been studied due to their robustness against occlusions. This paper explores tactile data's temporal information for estimating the orientation of grasped objects. The data from a compliant tactile sensor were collected using different time-window sample sizes and evaluated using neural networks with long short-term memory (LSTM) layers. Our results suggest that using a window of sensor readings improved angle estimation compared to previous works. The best window size of 40 samples achieved an average of 0.0375 for the mean absolute error (MAE) in radians, 0.0030 for the mean squared error (MSE), 0.9074 for the coefficient of determination (R2), and 0.9094 for the explained variance score (EXP), with no enhancement for larger window sizes. This work illustrates the benefits of temporal information for pose estimation and analyzes the performance behavior with varying window sizes, which can be a basis for future robotic tactile research. Moreover, it can complement underactuated designs and visual pose estimation methods.

A Skin-Like Soft Compression Sensor for Robotic Applications.

We present a compression sensor based on a strain-sensitive carbon black-silicone composite cast on top of a printed circuit board with interdigitated electrodes. This results in a very sensitive and soft capacitive compression sensor not requiring a structured dielectric or compliant electrodes. We show how the optimal loading of carbon black to maximize the sensitivity depends on the type of carbon black and the stiffness of the silicone matrix. The optimal quantity of carbon black leads to a high sensitivity of 252% for an input force of 10 N (this corresponds to an input pressure of 17 kPa), without stiffening the silicone matrix or increasing the viscoelastic losses noticeably. The fabrication process of the sensors is much simpler than that of other soft capacitive sensors, and unlike carbon black-silicone resistive sensors, these capacitive sensors do not exhibit time-dependent impedance creep. They can be made thick without affecting their base capacitance or sensitivity, leading to compliant and conformable sensing interfaces suitable for a variety of applications, such as robotic tactile sensors.

Comparing the fundamental movement skill proficiency of children with intellectual disabilities and typically developing children: a systematic review and meta-analysis.

BACKGROUND: Children around the world, particularly those with intellectual disabilities (ID), are exhibiting poor motor skill proficiency. Compared with typically developing children (TDC), children with intellectual disabilities (CwID) are 65% more likely to exhibit low levels of motor competence. The purpose of this meta-analysis was to compare the motor skill proficiency levels, in terms of fundamental movement skills (FMS) of CwID to TDC. FMS are the building blocks required for lifelong participation in sport and physical activity. METHOD: The meta-analysis was conducted according to PRISMA statement guidelines. 6 electronic databases were searched and 16, 679 studies were found. A total of 26 studies (total participants n = 3,525) met the inclusion criteria. A multivariate maximum likelihood multivariate random effects model was fitted to the data using the metafor package in R. RESULTS: The study showed that the standardised mean difference (Hedges' g) in FMS between TDC and CwID is large (g = 1.24; CI 95% [.87, 1.62]). Specifically, significant differences between the two groups emerged in all five outcomes: (1) total locomotor score, (2) total object manipulation score, (3) balance, (4) run skill and (5) throw skill. CONCLUSIONS: Further investigation into effective intervention strategies is required in order to reduce the magnitude of difference in motor skill proficiency between the two groups. In addition to developing, implementing and evaluating these interventions, researchers need to work hand in hand with national governing bodies (NGB) of sport and policy makers to ensure that teachers and coaches are being provided with opportunities to upskill in the area of FMS.

Object weight can be rapidly predicted, with low cognitive load, by exploiting learned associations between the weights and locations of objects.

Weight prediction is critical for dexterous object manipulation. Previous work has focused on lifting objects presented in isolation and has examined how the visual appearance of an object is used to predict its weight. Here we tested the novel hypothesis that when interacting with multiple objects, as is common in everyday tasks, people exploit the locations of objects to directly predict their weights, bypassing slower and more demanding processing of visual properties to predict weight. Using a three-dimensional robotic and virtual reality system, we developed a task in which participants were presented with a set of objects. In each trial a randomly chosen object translated onto the participant's hand and they had to anticipate the object's weight by generating an equivalent upward force. Across conditions we could control whether the visual appearance and/or location of the objects were informative as to their weight. Using this task, and a set of analogous web-based experiments, we show that when location information was predictive of the objects' weights participants used this information to achieve faster prediction than observed when prediction is based on visual appearance. We suggest that by "caching" associations between locations and weights, the sensorimotor system can speed prediction while also lowering working memory demands involved in predicting weight from object visual properties.NEW & NOTEWORTHY We use a novel object support task using a three-dimensional robotic interface and virtual reality system to provide evidence that the locations of objects are used to predict their weights. Using location information, rather than the visual appearance of the objects, supports fast prediction, thereby avoiding processes that can be demanding on working memory.

A tool to act blind? Object-assisted eye-covering as a self-handicapping behavior and social play signal in Balinese long-tailed macaques.

Self-handicapping behaviors evolved as honest signals that reliably reflect the quality of their performers. In playful activities, self-handicapping is described as intentionally and unnecessarily putting oneself into disadvantageous positions and situations. Self-handicapping during play may allow individuals to learn to cope with unexpected events by improving sensori-motor coordination, as well as function as a play solicitation signal. One such self-handicapping behavior involves moving about while deliberately covering one's eyes. We conducted a quantitative study of object-assisted eye-covering (OAEC) in a population of free-ranging Balinese macaques. After evaluating the frequency, form, distribution, and context of OAEC, we measured the responses this behavior elicited (1) in the performers with a focus on sensori-motor self-handicapping, and (2) in their conspecifics, with an emphasis on whether, and if so how, OAEC may facilitate social play. Our data provided some support for several hypotheses: OAEC is a sensori-motor self-handicapping behavior, an attention-getting cue, a social play signal, and a socially self-handicapping tactic during social play. We discuss our results from the perspective of tool-assisted self-handicapping behavior, propose a scenario to account for the emergence of this behavioral innovation, and speculate on the cultural nature of OAEC.

SurgGrip: a compliant 3D printed gripper for vision-based grasping of surgical thin instruments.

This paper presents a conceptual design and implementation of a soft, compliant 3D printed gripper (SurgGrip), conceived for automated grasping of various surgery-based thin-flat instruments. The proposed solution includes (1) a gripper with a resilient mechanism to increase safety and better adaptation to the unstructured environment; (2) flat fingertips with mortise and tenon joint to facilitate pinching and enveloping based grasping of thin and random shape tools; (3) a soft pad on the fingertips to enable the high surface area to maintain stable grasping of the surgical instruments; (4) a four-bar linkage with a leadscrew mechanism to provide a precise finger movement; (5) enable automated manipulation of surgical tools using computer vision. Our gripper model is designed and fabricated by integrating soft and rigid components through a hybrid approach. The SurgGrip shows passive adaptation through inherent compliance of linear and torsional spring. The four-bar linkage mechanism controlled by a motor-leadscrew-nut drive provides precise gripper opening and closing movements. The experimental results show that the SurgGrip can detect, segment through a camera, and grasp surgical instruments (maximum 606.73 gs), with a 67% success rate (grasped 10 out of 12 selected tools) at 3.21 mm/s grasping speed and 15.81 s object grasping time autonomously. Besides, we demonstrated the pick and place abilities of SurgGrip on flat and nonflat surfaces in real-time. Supplementary Information: The online version contains supplementary material available at 10.1007/s11012-022-01594-6.

Review of Learning-Based Robotic Manipulation in Cluttered Environments.

Robotic manipulation refers to how robots intelligently interact with the objects in their surroundings, such as grasping and carrying an object from one place to another. Dexterous manipulating skills enable robots to assist humans in accomplishing various tasks that might be too dangerous or difficult to do. This requires robots to intelligently plan and control the actions of their hands and arms. Object manipulation is a vital skill in several robotic tasks. However, it poses a challenge to robotics. The motivation behind this review paper is to review and analyze the most relevant studies on learning-based object manipulation in clutter. Unlike other reviews, this review paper provides valuable insights into the manipulation of objects using deep reinforcement learning (deep RL) in dense clutter. Various studies are examined by surveying existing literature and investigating various aspects, namely, the intended applications, the techniques applied, the challenges faced by researchers, and the recommendations adopted to overcome these obstacles. In this review, we divide deep RL-based robotic manipulation tasks in cluttered environments into three categories, namely, object removal, assembly and rearrangement, and object retrieval and singulation tasks. We then discuss the challenges and potential prospects of object manipulation in clutter. The findings of this review are intended to assist in establishing important guidelines and directions for academics and researchers in the future.

Context matters during pick-and-place in VR: Impact on search and transport phases.

When considering external assistive systems for people with motor impairments, gaze has been shown to be a powerful tool as it is anticipatory to motor actions and is promising for understanding intentions of an individual even before the action. Up until now, the vast majority of studies investigating the coordinated eye and hand movement in a grasping task focused on single objects manipulation without placing them in a meaningful scene. Very little is known about the impact of the scene context on how we manipulate objects in an interactive task. In the present study, it was investigated how the scene context affects human object manipulation in a pick-and-place task in a realistic scenario implemented in VR. During the experiment, participants were instructed to find the target object in a room, pick it up, and transport it to a predefined final location. Thereafter, the impact of the scene context on different stages of the task was examined using head and hand movement, as well as eye tracking. As the main result, the scene context had a significant effect on the search and transport phases, but not on the reach phase of the task. The present work provides insights into the development of potential supporting intention predicting systems, revealing the dynamics of the pick-and-place task behavior once it is realized in a realistic context-rich scenario.

An Evaluation of Ethograms Measuring Distinct Features of Enrichment Use by Captive Chimpanzees (Pan troglodytes).

Environmental enrichment provides mental stimulation and minimizes abnormal behaviors in captive animals. In captive chimpanzees, individual animals may vary in the ways in which they benefit from enrichment or use enrichment devices, so investigating nuances in enrichment use may improve the welfare of captive chimpanzees. In the current study, three ethograms measuring distinct features of enrichment use (i.e., enrichment object, manipulation behavior, and social context) were evaluated by coding videos of captive chimpanzees (Pan troglodytes) at Chimpanzee Sanctuary Northwest in Cle Elum, WA. A total of 732 min and 58 s of video footage was coded from a larger video archive (i.e., 2054 videos) of enrichment use that spanned a decade. A principal component analysis (PCA) revealed that different categories of enrichment objects were more often associated with specific manipulation behaviors and social contexts, suggesting that enrichment objects might fulfill different behavioral and social needs in captivity. Specifically, toy objects were associated with active tactile behaviors in affiliative contexts while oral behaviors were used with foraging objects in solitary contexts. Additionally, individual chimpanzees showed unique preferences for enrichment objects, indicating that caregivers of captive chimpanzees should consider individual needs instead of a "one size fits all" approach to enrichment provisions.