To be successful, precision manipulation of small objects requires a refined coordination of forces excerted on the object by the tips of the fingers and thumb. The present paper deals quantitatively with the regulation of the coordination between the grip force and the vertical lifting force, denoted as the load force, while small objects were lifted, positioned in space and replaced by human subjects using the pinch grip. It was shown that the grip force changed in parallel with the load force generated by the subject to overcome various forces counteracting the intended manipulation. The balance between the two forces was adapted to the friction between the skin and the object providing a relatively small safety margin to prevent slips, i.e. the more slippery the object the higher the grip force at any given load force. Experiments with local anaesthesia indicated that this adaptation was dependent on cutaneous afferent input. Afferent information related to the frictional condition could influence the force coordination already about 0.1 s after the object was initially gripped, i.e. approximately at the time the grip and load forces began to increase in parallel. Further, “secondary”, adjustments of the force balance could occur later in response to small short-lasting slips, revealed as vibrations in the object. The new force balance following slips was maintained, indicating that the relationship between the two forces was set on the basis of a memory trace. Its updating was most likely accounted for by tactile afferent information entering intermittently at inappropriate force coordination, e.g. as during slips. The latencies between the onset of such slips and the appearance of the adjustments (0.06–0.08 s) clearly indicated that the underlying neural mechanisms operated highly automatically.

Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects

https://www.cell.com/trends/neurosciences/pdf/0166-2236(91)90064-2.pdf

The human stretch reflex and the motor cortex

The perception of stiffness was studied in ten human subjects using two servo-controlled electromagnetic linear motors with computercontrolled stiffness, one motor coupled to each wrist of the subject. Using the contralateral limbmatching procedure in which subjects adjusted the stiffness of the motor connected to one (matching) arm until it was perceived to be the same as that connected to the other (reference) arm, a psychophysical function for stiffness was calculated. Eight different stiffness intensities were matched by subjects with five repetitions at each stimulus amplitude. The relation between the stiffness of the reference and matching motors was linear, and the accuracy with which subjects could match stiffness paralleled that reported previously for force and displacement. The Weber fraction for stiffness was 0.23 which is three times that reported for elbow flexion forces and forearm displacement. These findings were interpreted as indicating that subjects can perceive changes in the stiffness of mechanical devices used to effect action in the environment and that these perceptions are based on sensory signals conveying force and movement information.

A perceptual analysis of stiffness.

Perception of force and weight: theory and research.

Redundancy of the motor control system is an important feature that gives the central control structures options for solving everyday motor problems. The choice of particular control patterns is based on priorities (coordinative rules) that are presently unknown. Motor patterns observed in unimpaired young adults reflect these priorities. We hypothesize that under certain atypical conditions, which may include disorders in perception of the environment and in decision making, structural or biochemical changes within the central nervous system (CNS), and/or structural changes of the effectors, the central nervous system may reconsider its priorities. A new set of priorities will reflect the current state of the system and may lead to different patterns of voluntary movement. Under such conditions, changed motor patterns should be considered not pathological but rather adaptive to a primary disorder and may even be viewed as optimal for a given state of the system of movement production. Therapeutic approaches should not be directed toward restoring the motor patterns to as close to “normal” as possible but rather toward resolving the original underlying problem. We illustrate this approach using, as examples, movements in amputees, in patients with Parkinson's disease, in patients with dystonia, and in persons with Down syndrome.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/46DFEE4D0CB650919D8D9B80C22E0981/S0140525X00041467a.pdf/div-class-title-what-are-normal-movements-in-atypical-populations-div.pdf

What are “normal movements” in atypical populations?

1. The amount of positional compensation afforded by the long-latency reflex in the flexor pollicis longus has been investigated in ten normal human subjects. 2. The interphalangeal joint of the thumb was extended by between 2 and 40 degrees at up to 900 deg/s by suddenly increasing the standing force applied to the lever against which the subject was pressing with the pad of the thumb. 3. Electromyographic (e.m.g.) responses at spinal-latency were very small or absent for stretches of this magnitude. The long-latency stretch reflex produced an average positional correction of about 50% for disturbances in the range of 5-25 degrees. The response began to saturate for disturbances of greater than 25 degrees. 4. The e.m.g. response was pulsatile, lasting only some 50 ms, even during continuously increasing disturbances; frequently it terminated despite a remaining positional error. 5. There was a large variation from subject to subject in the average amount of positional correction provided by the stretch reflex. Examination of single responses to the same stretch in individual subjects showed an even greater variation from trial to trial. 6. Variation in the compensation produced by the long-latency stretch reflex from trial to trial could not be explained by the slight variation in size or maximum velocity of the individual stretches.

Reliability and efficacy of the long‐latency stretch reflex in the human thumb.

1. We have confirmed the results of Gandevia & McCloskey (1977) on the effect of thumb anaesthesia on perception of weights lifted by the thumb. Weights lifted by flexion feel heavier and weights lifted by extension feel lighter. 2. The change in size of the long-latency stretch reflex in flexor pollicis longus or extensor pollicis longus after thumb anaesthesia cannot explain the effect on weight perception by removal or augmentation of the background servo assistance to muscular contraction. 3. During smooth thumb flexion, thumb anaesthesia increases e.m.g. activity in flexor pollicis longus and extensor pollicis longus for any given opposing torque. 4. During smooth thumb extension the opposite occurs: e.m.g. activity in both extensor and flexor pollicis longus decreases. 5. Clamping the thumb at the proximal phalanx to limit movement solely to the interphalangeal joint reduces or abolishes the effect of anaesthesia on both weight perception and e.m.g. activity during both flexion or extension tasks. 6. Gandevia & McCloskey's findings on the distorting effects of thumb anaesthesia on weight perception cannot be used to support the hypothesis of an efferent monitoring system of the sense of effort. Our results emphasize the close functional relationship between cutaneous and joint afferent information and motor control.

https://physoc.onlinelibrary.wiley.com/doi/pdf/10.1113/jphysiol.1979.sp012931

Effect of thumb anaesthesia on weight perception, muscle activity and the stretch reflex in man.

Changes in perceived heaviness in man after thumb anaesthesia are associated with corresponding changes in the degree of muscle activation [proceedings].

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Reliability and efficacy of the long‐latency stretch reflex in the human thumb.

Effect of thumb anaesthesia on weight perception, muscle activity and the stretch reflex in man.

Changes in perceived heaviness in man after thumb anaesthesia are associated with corresponding changes in the degree of muscle activation [proceedings].