Grasping affordance judgments depend on the object emotional value.

Introduction: The concept of affordance refers to the opportunities for action provided by the environment, often conveyed through visual information. It has been applied to explain visuomotor processing and movement planning. As emotion modulates both visual perception and the motor system, it is reasonable to ask whether emotion can influence affordance judgments. If present, this relationship can have important ontological implications for affordances. Thus, we investigated whether the emotional value of manipulable objects affected the judgment of the appropriate grasping that could be used to interact with them (i.e., their affordance). Methods: Volunteers were instructed to use a numerical scale to report their judgment on how an observed object should be grasped. We compared these judgments across emotional categories of objects (pleasant, unpleasant and neutral), while also considering the expected effect of object size. Results: We found that unpleasant objects were rated as more appropriately graspable by a precision grip than pleasant and neutral objects. Simultaneously, smaller object size also favored this judgment. This effect was seen in all emotional categories examined in equal magnitude. Discussion: Our findings suggest that the emotional value of objects modulates affordance judgments in a way that favors careful manipulation and minimal physical contact with aversive stimuli. Finally, we discuss how this affective aspect of our experience of objects overlaps with what affordances are conceptualized to be, calling for further reexamination of the relationship between affordances and emotions.

Mechanical assessment of novel compliant mechanisms for underactuated prosthetic hands.

This paper proposes novel compliant mechanisms for constructing hand prostheses based on soft robotics. Two models of prosthetic hands are developed in this work. Three mechanical evaluations are performed to determine the suitability of the two designs for carrying out activities of daily living (ADLs). The first test measures the grip force that the prosthesis can generate on objects. The second determines the energy required and dissipated from the prosthesis to operate. The third test identifies the maximum traction force that the prosthesis can support. The tests showed that the PrHand1 prosthesis has a maximum grip force of 23.38 ± 1.5 N, the required energy is 0.76 ± 0.13 J, and the dissipated energy is 0.21 ± 0.17 J. It supports a traction force of 173.31 ± 5.7 N. The PrHand2 prosthesis has a maximum grip force of 36.13 ± 2.3 N, the required energy is 1.28 ± 0.13 J, the dissipated energy is 0.96 ± 0.12 J, and it supports a traction force of 78.48 ± 0 N. In conclusion, the PrHand1 prosthesis has a better performance in terms of energy and tensile force supported. The difference between the energy and traction force results is related to two design features of the PrHand2: fully silicone-coated fingers and a unifying mechanism that requires more force on the tendons to close the prosthesis. The grip force of the PrHand2 prosthesis was more robust than the PrHand1 due to its silicone coating, which allowed for an improved grip.

The effects of age and postural constraints on prehension.

Older adults adapt the execution of complex motor tasks to use compensatory strategies in the reaching-to-grasping (i.e., prehension) movement. The presence of postural constraints may exacerbate these compensatory strategies. Therefore, we investigated the reach-to-grasp action with different postural constraints (sitting, standing, and walking) in younger and older people and evaluated the postural stability during the reach-to-grasp action. Thirty individuals (15 younger and 15 older adults) performed the prehension under three postural tasks: sitting, standing, and walking. The reaching movement was slower in the walking task than in the other two postural tasks; however, there was no difference between the age groups. For the grasping action, the older adults presented a larger grip aperture, and the peak grip aperture occurred earlier during hand transportation in sitting and standing tasks. In the standing task, the margin of stability was smaller for older adults. In the walking task, there was no difference between the groups for the margin of stability. Also, prehension during sitting and standing tasks were similar, and both differed from walking across age groups. Finally, older adults reduced their margin of stability compared to younger adults, but only in the standing task. The margin of stability was similar between age groups during the walking task. We concluded that age affected grasping (distal component) but not reaching (proximal component), suggesting that healthy older adults have more difficulty controlling distal than proximal body segments.

Sticky Mittens Training to Improve Reaching Skills and Manual Exploration of Full-Term and At-Risk Infants: A Systematic Review.

AIM: To systematically review evidence of the effectiveness of sticky mittens training to improve reaching skills and manual exploration of full-term and at-risk infants and optimal training dosage. METHODS: The Cochrane Collaboration and Preferred Reporting Items for Systematic Reviews and Meta-Analyses guided this systematic review. The electronic search was performed from September 2017 to August 2021 on PubMed, Scopus, Science Direct, and Cochrane databases. Eligibility criteria followed PICO terms: clinical trials investigating the effects of sticky mittens training on reaching skills and manual exploration of full-term and at-risk infants. PEDro scale and GRADE assessed methodological quality and quality of evidence, respectively. RESULTS: Eight studies (313 children) were included. Five studies found statistically significant differences between experimental and control groups (62.6%). One study presented high methodological quality. Evidence synthesis showed very low and low evidence of the beneficial effects of sticky mittens training in full-term and at-risk infants, respectively. CONCLUSIONS: Findings suggest that sticky mittens training facilitates reaching skills and manual exploration. However, results should interpretation with caution because studies targeted full-term infants. Future research should focus on infants at risk or with motor impairments since sticky mittens training seems to show positive effects and is easy to apply.

STIMGRASP: A Home-Based Functional Electrical Stimulator for Grasp Restoration in Daily Activities.

Thousands of people currently suffer from motor limitations caused by SCI and strokes, which impose personal and social challenges. These individuals may have a satisfactory recovery by applying functional electrical stimulation that enables the artificial restoration of grasping after a muscular conditioning period. This paper presents the STIMGRASP, a home-based functional electrical stimulator to be used as an assistive technology for users with tetraplegia or hemiplegia. The STIMGRASP is a microcontrolled stimulator with eight multiplexed and independent symmetric biphasic constant current output channels with USB and Bluetooth communication. The system generates pulses with frequency, width, and maximum amplitude set at 20 Hz, 300 µs/phase, and 40 mA (load of 1 kΩ), respectively. It is powered by a rechargeable lithium-ion battery of 3100 mAh, allowing more than 10 h of continuous use. The development of this system focused on portability, usability, and wearability, resulting in portable hardware with user-friendly mobile app control and an orthosis with electrodes, allowing the user to carry out muscle activation sequences for four grasp modes to use for achieving daily activities.

Priming of grasp affordance in an ambiguous object: evidence from ERPs, source localization, and motion tracking.

Object affordance refers to possibilities to interact with the objects in our environment, such as grasping. Previous research shows that objects that afford an action activate the motor system and attract attention, for example they elicit an enhanced frontal negativity and posterior P1 in the event-related potential. An effect on posterior N1 is discussed. However, previous findings might have resulted from physical differences between affording and non-affording stimuli, rather than affordance per se. Here we replicated the frontal negativity and posterior P1 effects and further explored the posterior N1 in affordance processing under constant visual input. An ambiguous target was primed either with an affording (pencils) or non-affording (trees) context. Although physically always identical, the target elicited an enhanced frontal negativity and posterior P1 in the pencil prime condition. Posterior N1 was reduced and grip aperture in a grasping task was smaller in the affording context. Source localization revealed stronger activation in occipital and parietal regions for targets in pencil versus tree prime trials. Thus, we successfully show that an ambiguous object primed with an affording context is processed differently than when primed with a non-affording context. This could be related to the ambiguous object acquiring a potential for action through priming.

Assisted Grasping in Individuals with Tetraplegia: Improving Control through Residual Muscle Contraction and Movement.

Individuals who sustained a spinal cord injury often lose important motor skills, and cannot perform basic daily living activities. Several assistive technologies, including robotic assistance and functional electrical stimulation, have been developed to restore lost functions. However, designing reliable interfaces to control assistive devices for individuals with C4-C8 complete tetraplegia remains challenging. Although with limited grasping ability, they can often control upper arm movements via residual muscle contraction. In this article, we explore the feasibility of drawing upon these residual functions to pilot two devices, a robotic hand and an electrical stimulator. We studied two modalities, supra-lesional electromyography (EMG), and upper arm inertial sensors (IMU). We interpreted the muscle activity or arm movements of subjects with tetraplegia attempting to control the opening/closing of a robotic hand, and the extension/flexion of their own contralateral hand muscles activated by electrical stimulation. Two groups were recruited: eight subjects issued EMG-based commands; nine other subjects issued IMU-based commands. For each participant, we selected at least two muscles or gestures detectable by our algorithms. Despite little training, all participants could control the robot's gestures or electrical stimulation of their own arm via muscle contraction or limb motion.

Effects of two intensities of treadmill exercise on neuromuscular recovery after median nerve crush injury in Wistar rats.

Considering the potential action of exercise on neuroplasticity and the need to adapt protocols to enhance functional recovery after nerve injury, this study evaluated the effects of two intensities of treadmill exercise on nervous and muscular tissues and functional recovery after nerve crush injury. Wistar rats were distributed into sedentary group (SED), and 10 m/min (EG10) and 17 m/min (EG17) exercise groups. The exercise started one week after the injury. Ten daily sessions were performed with a 2-day interval after the fifth day. The flexor digitorum muscle and two segments of the median nerve were analysed histomorphometrically by light microscopy and computer analysis. Function was evaluated by grasping test, in 3 moments. Approval number: 016/2013. In the proximal segments of the median nerve, the diameter of myelinated fibres and axon, the myelin sheath thickness and the ratio of axon diameter to fibre diameter (g ratio) were significantly larger (P<0.05) in the EG10. The number of myelinated fibres was lesser in the EG17 than the other groups (P<0.05). No difference in the number of myelinated fibres among groups was observed in the distal segments, but the SED presented significantly larger axon and fibre diameters than those that performed exercise. The EG10 presented greater area and diameter of muscle fibres (P<0.05) and functional improvement observed on the 21st day after injury (P<0.05) compared with the EG17 and SED. Continuous exercise at 10 m/min accentuates nerve regeneration, accelerating functional recovery and preventing muscle atrophy.

The Multiple Representations of Complex Digit Movements in Primary Motor Cortex Form the Building Blocks for Complex Grip Types in Capuchin Monkeys.

In the present study, we investigated motor cortex (M1) and a small portion of premotor and parietal cortex using intracortical microstimulation in anesthetized capuchin monkeys. Capuchins are the only New World monkeys that have evolved an opposable thumb and use tools in the wild. Like most Old World monkeys and humans, capuchin monkeys have highly dexterous hands. We surveyed a large extent of M1 and found that ~22% of all evoked movements in M1 involved the digits, and the majority of these consisted of finger flexions and extensions. Different subtypes of movements could be identified, including opposable movements of digits 1 and 2 (D1 and D2). Interestingly, the pattern of such movements varied between animals. In one case, movements involved the adduction of the medial surface of D1 toward the lateral surface of D2, whereas in the other case, the tips of D1 and D2 came in contact. Unlike other primates examined, we also found extensive representations of the prehensile foot and tail. We propose that the manual behavioral repertoire of capuchin monkeys, which includes the use of tools in the wild, is well represented within the motor cortex in the form of muscle synergies between different body parts that compose these larger, complex behaviors.SIGNIFICANCE STATEMENT The ability to use tools is a milestone in human evolution. Capuchin monkeys are one of the few non-human primates that use tools in the wild. The present study is the first detailed exploration of the motor cortex of these primates using long-train intracortical microstimulation. Within primary motor cortex, we evoked finger movements involving flexions and extensions of multiple digits, or of the first and second digits alone. Interestingly, flexion of tail and toes could also be evoked. Together, these results suggest that the functional organization of the motor cortex represents not just muscles of the body, but muscle synergies that form the building blocks of the complex behavioral repertoire of these animals.

Effects of cervical manipulation on pain, grip force control, and upper extremity muscle activity: a randomized controlled trial.

OBJECTIVES: Individuals with neck pain experience disrupted grip force control when performing manipulative tasks. Manipulative physical therapy might decrease pain and change the activity of surrounding muscles; however, its effect on upper limb motor control remains undetermined. This study aims to analyze the effects of cervical manipulation on pressure pain threshold (PPT), upper extremity muscle activity along with grip force control in individuals with neck pain. METHODS: Thirty subjects with neck pain were instructed to grasp and lift an object before and after cervical (n = 15) or sham (n = 15) manipulation. The patients' PPT, electromyographic (EMG) activity of the upper extremity/scapular muscles, and grip force control were analyzed before and after one session of manipulation. RESULTS: No significant differences were found in the grip force control, PPT and EMG activity variables between groups. DISCUSSION: These results suggest that a single session of cervical manipulation may not modify upper limb motor control, more specifically grip force control and EMG activity, in patients with cervical pain. Future studies should investigate potential changes in grip force control in patients with different features of neck pain and/or by applying long-term treatment. LEVEL OF EVIDENCE: 1b.

Bone indicators of grasping hands in lizards.

Grasping is one of a few adaptive mechanisms that, in conjunction with clinging, hooking, arm swinging, adhering, and flying, allowed for incursion into the arboreal eco-space. Little research has been done that addresses grasping as an enhanced manual ability in non-mammalian tetrapods, with the exception of studies comparing the anatomy of muscle and tendon structure. Previous studies showed that grasping abilities allow exploitation for narrow branch habitats and that this adaptation has clear osteological consequences. The objective of this work is to ascertain the existence of morphometric descriptors in the hand skeleton of lizards related to grasping functionality. A morphological matrix was constructed using 51 morphometric variables in 278 specimens, from 24 genera and 13 families of Squamata. To reduce the dimensions of the dataset and to organize the original variables into a simpler system, three PCAs (Principal Component Analyses) were performed using the subsets of (1) carpal variables, (2) metacarpal variables, and (3) phalanges variables. The variables that demonstrated the most significant contributions to the construction of the PCA synthetic variables were then used in subsequent analyses. To explore which morphological variables better explain the variations in the functional setting, we ran Generalized Linear Models for the three different sets. This method allows us to model the morphology that enables a particular functional trait. Grasping was considered the only response variable, taking the value of 0 or 1, while the original variables retained by the PCAs were considered predictor variables. Our analyses yielded six variables associated with grasping abilities: two belong to the carpal bones, two belong to the metacarpals and two belong to the phalanges. Grasping in lizards can be performed with hands exhibiting at least two different independently originated combinations of bones. The first is a combination of a highly elongated centrale bone, reduced palmar sesamoid, divergence angles above 90°, and slender metacarpal V and phalanges, such as exhibited by Anolis sp. and Tropidurus sp. The second includes an elongated centrale bone, lack of a palmar sesamoid, divergence angles above 90°, and narrow metacarpal V and phalanges, as exhibited by geckos. Our data suggest that the morphological distinction between graspers and non-graspers is demonstrating the existence of ranges along the morphological continuum within which a new ability is generated. Our results support the hypothesis of the nested origin of grasping abilities within arboreality. Thus, the manifestation of grasping abilities as a response to locomotive selective pressure in the context of narrow-branch eco-spaces could also enable other grasping-dependent biological roles, such as prey handling.

Anatomy of the crus and pes of neotropical iguanian lizards in relation to habitat use and digitally based grasping capabilities.

Ecomorphological studies of lizards have explored the role of various morphological traits and how these may be associated with, among other things, habitat use. We present an analysis of selected traits of internal morphology of the hind limbs of Neotropical iguanian lizards and their relationship to habitat use. Considering that one of the most widely-held hypotheses relating to the origin of grasping is associated with the exploitation of the narrow-branch arboreal habitat, we include subdivisions of this designation as two of our ecologically defined categories of habitat exploitation for analysis, and compare lizards assigned to these categories to the features displayed by terrestrial lizards. The influence of phylogeny in shaping the morphology of lizards was assessed by using the comparative method. K values were significant for several osteological traits. Most of the K values for the variables based upon muscle and tendon morphometric characters (13 out 21), by contrast, had values <1, suggesting that their variation cannot be explained by phylogeny alone. Results of our phylogenetic and conventional ANCOVA analyses reveal that the characters highlighted through the application of the comparative method are not absolutely related to habitat in terms of the categories considered here. It appears that the bauplan of the lizard pes incorporates a morphological configuration that is sufficiently versatile to enable exploitation of almost all of the available habitats. As unexpected as conservation of internal gross morphology appears, it represents a means of accommodating to environmental challenges by apparently permitting adequacy for all situations examined.

Effect of neurotrophic factor, MDP, on rats’ nerve regeneration

Our objective was to determine the immune-modulating effects of the neurotrophic factor N-acetylmuramyl-L-alanyl-D-isoglutamine (MDP) on median nerve regeneration in rats. We used male Wistar rats (120-140 days of age, weighing 250-332 g) and compared the results of three different techniques of nerve repair: 1) epineural neurorrhaphy using sutures alone (group S - 10 rats), 2) epineural neurorrhaphy using sutures plus fibrin tissue adhesive (FTA; group SF - 20 rats), and 3) sutures plus FTA, with MDP added to the FTA (group SFM - 20 rats). Functional assessments using the grasp test were performed weekly for 12 weeks to identify recovery of flexor muscle function in the fingers secondary to median nerve regeneration. Histological analysis was also utilized. The total number and diameter of myelinated fibers were determined in each proximal and distal nerve segment. Two indices, reported as percentage, were calculated from these parameters, namely, the regeneration index and the diameter change index. By the 8th week, superiority of group SFM over group S became apparent in the grasping test (P = 0.005). By the 12th week, rats that had received MDP were superior in the grasping test compared to both group S (P < 0.001) and group SF (P = 0.001). Moreover, group SF was better in the grasping test than group S (P = 0.014). However, no significant differences between groups were identified by histological analysis. In the present study, rats that had received MDP obtained better function, in the absence of any significant histological differences.

Parámetros de normalidad en fuerzas de prensión de mano en sujetos de ambos sexos de 7 a 17 años de edad / Normal parameters in hand grasping strength in subjects of both genders, 7 to 17 years of age

Introduction: Determining normal parameters in hand grasping strength will allow to determine clinical conditions and treatment results in patients with changes in hand dexterity. Purpose: Establish ranges of normal strength in three types of grasp in subjects of both genders, ages 7 to 17. Materials and Methods: 753 random subjects selected from schools in the Metropolitan Region, two-stage sampling, 2.12 percent error. The following tests were performed: cylindrical palmar (dynamometer), spherical palmar (vigorimeter), and subterminolateral clasp prehension (clasp). Means tests with 95 percent confidence were calculated. Results: 96.1 percent women and 95.6 men were right hand dominant. For cylindrical test, strength increased from 10.3 to 25 kg average at 17 years of age in women, in men in increased slowly up to 12 years of age reaching 39 kg at the end of the study. Spherical prehension showed slow, gradual increase reaching 0.45 bar in women and 0.65 bar in men at 17 years of age. Clasp at 17 years of age was 6.9 and 9.5 kg for women and men respectively. Conclusions: When the right hand is dominant, it is at least 6 percent stronger in clasp than the left hand in women, 5 percent in fist and clasp in men, with a 95 percent confidence between gender between the ages of 7 and 17. These data could be used as reference in patients with pathology that compromises dexterity in urban areas.

Introducción: Determinar parámetros de normalidad de fuerzas de prensión, permitirá objetivar condiciones clínicas y resultados de tratamientos en pacientes con alteraciones de funcionalidad manual. Objetivo: Establecer rangos de normalidad de fuerza en tres tipos de prensión en sujetos de ambos sexos de 7-17 años cumplidos. Materiales y Método: 753 sujetos seleccionados aleatoriamente de colegios de Región Metropolitana, en muestreo bietápico con 2,12 por ciento de error. Se evaluó prensión palmar cilíndrica (dinamómetro), palmar esférica (vigorímetro) y pinza sub-terminolateral (pinzómetro); se probó normalidad estadística para establecer intervalos de confianza de 95 por ciento para las medias. Resultados: 96,1 por ciento de mujeres y 95,6 por ciento de varones declararon mano derecha como dominante. Para prensión cilíndrica, la fuerza creció desde 10,3 hasta 25 kg promedio a los 17 a±os en mujeres; en varones, aumentó lentamente hasta los 12 años, alcanzando 39 kg promedio a igual edad. Prensión esférica presentó crecimiento lento y gradual obteniendo 0,45 bar en mujeres y 0,65 bar en varones de 17 años. En pinza, los valores promedio a la edad máxima, alcanzaron 6,9 y 9,5 kg para mujeres y hombres respectivamente. Conclusión: la mano derecha cuando es considerada dominante, tiene a lo más, un 6 por ciento de fuerza en pinza mayor que la izquierda en mujeres y de 5 por ciento en fuerza de puño y pinza en hombres; los intervalos con 95 por ciento de confianza para las prensiones estudiadas según género de 7 a 17 años de edad, pueden constituirse en patrones de referencia al comparar las fuerzas de prensión en pacientes con patologías que comprometan función manual con la población normalmente desarrollada de áreas urbanas.