FURI | Spring 2024

Dexterous Manipulation: Differential Sensitivity of Manipulation and Grasp Forces to Task Requirements

To overcome computational errors introduced by traditional digit force analysis applied to dexterous object manipulation tasks, we decomposed digit forces into two components: (1) grasp force devoted to object slip prevention and (2) manipulation force responsible for object position and orientation control. We found that these two forces are differentially sensitive to changes in object properties (mass and torque). These findings can provide valuable insights into assessing hand performance and discovering novel control mechanisms that can be utilized for clinical applications such as brain-computer interfaces, particularly in assisting individuals with neuropathies, neurological disorders, or traumatic injuries.