Search

Among tetrapods, grasping is an essential function involved in many vital behaviours. The selective pressures that led to this function were widely investigated in species with prehensile hands and feet. Previous studies namely highlighted a strong effect of item properties but also of the species habitat on manual grasping behaviour. African savannah elephants (Loxodonta africana) are known to display various prehensile abilities and use their trunk in a large diversity of habitats. Composed of muscles and without a rigid structure, the trunk is a muscular hydrostat with great freedom of movement. This multitasking organ is particularly recruited for grasping food items while foraging. Yet, the diet of African savannah elephants varies widely between groups living in different habitats. Moreover, they have tusks alongside the trunk which can assist in grasping behaviours, and their tusk morphologies are known to vary considerably between groups. Therefore, in this study, we investigate the food grasping techniques used by the trunk of two elephant groups that live in different habitats: an arid study site in Etosha National Park in Namibia, and an area with consistent water presence in Kruger National Park in South Africa. We characterised the tusks profiles and compared the grasping techniques and their frequencies of use for different foods. Our results show differences in food‐grasping techniques between the two groups. These differences are related to the food item property and tusk profile discrepancies highlighted between the two groups. We suggest that habitat heterogeneity, particularly aridity gaps, may induce these differences. This may reveal an optimisation of grasping types depending on habitat, food size and accessibility, as well as tusk profiles. [ABSTRACT FROM AUTHOR]

Among tetrapods, grasping is an essential function involved in many vital behaviours. The selective pressures that led to this function were widely investigated in species with prehensile hands and feet. Previous studies namely highlighted a strong effect of item properties but also of the species habitat on manual grasping behaviour. African savannah elephants (Loxodonta africana) are known to display various prehensile abilities and use their trunk in a large diversity of habitats. Composed of muscles and without a rigid structure, the trunk is a muscular hydrostat with great freedom of movement. This multitasking organ is particularly recruited for grasping food items while foraging. Yet, the diet of African savannah elephants varies widely between groups living in different habitats. Moreover, they have tusks alongside the trunk which can assist in grasping behaviours, and their tusk morphologies are known to vary considerably between groups. Therefore, in this study, we investigate the food grasping techniques used by the trunk of two elephant groups that live in different habitats: an arid study site in Etosha National Park in Namibia, and an area with consistent water presence in Kruger National Park in South Africa. We characterised the tusks profiles and compared the grasping techniques and their frequencies of use for different foods. Our results show differences in food‐grasping techniques between the two groups. These differences are related to the food item property and tusk profile discrepancies highlighted between the two groups. We suggest that habitat heterogeneity, particularly aridity gaps, may induce these differences. This may reveal an optimisation of grasping types depending on habitat, food size and accessibility, as well as tusk profiles. [ABSTRACT FROM AUTHOR]

We evaluated coordination of the hand grip force (GF; normal component of the force acting at the hand–object contact area) and load force (LF; the tangential component) in a variety of grasping techniques and two LF directions. Thirteen participants exerted a continuous sinusoidal LF pattern against externally fixed handles applying both standard (i.e., using either the tips of the digits or the palms; the precision and palm grasps, respectively) and non-standard grasping techniques (using wrists and the dorsal finger areas; the wrist and fist grasp). We hypothesized (1) that the non-standard grasping techniques would provide deteriorated indices of force coordination when compared with the standard ones, and (2) that the nervous system would be able to adjust GF to the differences in friction coefficients of various skin areas used for grasping. However, most of the indices of force coordination remained similar across the tested grasping techniques, while the GF adjustments for the differences in friction coefficients (highest in the palm and the lowest in the fist and wrist grasp) provided inconclusive results. As hypothesized, GF relative to the skin friction was lowest in the precision grasp, but highest in the palm grasp. Therefore, we conclude that (1) the elaborate coordination of GF and LF consistently seen across the standard grasping techniques could be generalized to the non-standard ones, while (2) the ability to adjust GF using the same grasping technique to the differences in friction of various objects cannot be fully generalized to the GF adjustment when different grasps (i.e., hand segments) are used to manipulate the same object. Due to the importance of the studied phenomena for understanding both the functional and neural control aspects of manipulation, future studies should extend the current research to the transient and dynamic tasks, as well as to the general role of friction in our mechanical interactions with the environment. [ABSTRACT FROM AUTHOR]

Abstract: Exceptional coordination of grip (G; the normal force that prevents slippage of the grasped object) and load force (L; the tangential force originating from the object''s weight and inertia) has been interpreted as a part of evidence that both the anatomy and neural control of human hands have been predominantly designed for manipulation tasks. In the present study, we tested the hypothesis that the precision grasp (uses only the tips of fingers and the thumb of one hand) provides better indices of G and L coordination in static manipulation tasks than two bimanual grasps (palm–palm and fingers–thumb; both using opposing segments of two hands). However, in addition to a subtle difference in relative timing of G and L between the precision and two bimanual grasps, we only found that the fingers–thumb grasp is characterized with higher G/L ratio and somewhat higher modulation of G than not only the precision, but also the bimanual palm–palm grasp. However, all remaining data including the correlation coefficients between G and L demonstrated no difference among three evaluated grasping techniques. Therefore, we concluded that the elaborate G and L coordination associated with uni-manual grasps could be partly generalized to a variety of manipulation tasks including those based on bimanual grasping techniques. Taking into account the importance of manipulation tasks in both everyday life and clinical evaluation, future studies should extend the present research to both other grasping techniques and dynamic manipulation conditions. [Copyright &y& Elsevier]

Abstract: Background: One cause of early failure of rotator cuff repairs is the pull out of the suture through the tendon. The aims of this study were to investigate the initial strength and failure mode of different tendon grasping techniques and to evaluate an alternative stitch proposed for arthroscopic repair of rotator cuff tendons. Methods: Four different stitches were investigated: simple stitch, Mattress, modified Mason–Allen and simple stitch closed over a horizontal loop. The last stitch was proposed as an alternative to the modified Mason–Allen stitch since the former is simpler to sew arthroscopically than the latter. The experimental procedure was designed to assess the mechanical behaviour of the stitches. Tests were performed using sheep infraspinatus tendons. Two different non-absorbable sutures were used. Each specimen was preloaded with about 30N and then loaded to failure. Results: No significant difference was found in compliance among the four investigated stitches. Conversely, the tensile strength of the simple stitch and Mattress was lower than the tensile strength of the other two stitches, while no significant difference was observed between the modified Mason–Allen and the simple stitch closed over a horizontal loop. The maximum grasping power of these two ‘reinforced’ stitches was achieved only with the high-strength suture. Interpretation: The simple stitch closed over a horizontal loop seems to be an attractive alternative to the modified Mason–Allen for arthroscopic repair of the rotator cuff and it seems recommendable instead of simple or Mattress stitches. The use of a high-strength suture would increase the tensile strength of the grasping in the case of good quality tendon tissue. [Copyright &y& Elsevier]

Robotic grasping techniques for regular targets with known shapes are now well established. However, unknown shaped objects have complex features such as texture, shape, and appearance, which leads to inaccurate recognition and localization of shaped objects during grasp detection. To improve the generalization ability of the grasping detection network for unfamiliar shaped objects, we propose a lightweight shaped object grasping detection network (LSOGD) based on feature fusion, which solves the problem that the network repeatedly extracts features from images and ultimately improves the accuracy of model detection by combining different features. The effectiveness of LSOGD is confirmed by performance evaluation on the Cornell dataset and Jacquard dataset, where the detection accuracy reaches 97.9% and 96.7% for unknown objects, respectively. In addition, due to the small proportion of shaped objects in the current publicly available dataset, we added a portion of industrial-shaped pieces based on the selection of some shaped objects in the Cornell grasping dataset to build a shaped object dataset named X-Cornell on which the accuracy of our proposed model for grasping and detecting the unknown shaped objects is 94.6%. Finally, an actual robot grasping experiment was conducted using a Realsense d435i camera and a Kinova robotic arm, and the success rate of grasping shaped objects was 94%. [ABSTRACT FROM AUTHOR]

While rat models are frequently used to study tendon healing, there is a lack of research comparing various rotator cuff repair methods in this animal model. Determining the most effective method to begin with is pivotal for biological studies focused on healing augmentation. No study to date has shown the superiority of one repair over the other for rotator cuff repair in a rat model. We performed a biomechanic study using a rat model to study the strength of four common grasping techniques. We assessed if the bone tunnel trajectory influenced the early biomechanics of the repair at postoperative day 0 (POD0). Sixty cadaveric rat shoulders were divided equally into 6 groups; 4 groups were allocated for the biomechanical strength testing based on either a (1) modified Mason Allen (MM), (2) modified Kessler loop (MK), (3) horizontal mattress (HM), or a (4) simple interrupted stitch (SS) technique. The remaining 2 groups were used to evaluate two tunneling angles: a transverse tunnel (TT) that was perpendicular to the long humeral axis, or a longitudinal tunnel (LT) that was 30◦ angle to the humerus. MM had the highest mean failure load, followed by MK, HM, and SS. Pairwise comparison revealed that MM was stronger than SS and HM (P = 0.025 and P = 0.026, respectively), although similar to the MK (P = 0.881). MM was stiffer than MK (P < 0.001), HM (P = 0.008), and SS (P < 0.001). The TT and LT had similar loads to failure and stiffness. Our study suggests that the MM technique provides a stronger and stiffer rotator cuff repair than the others. [ABSTRACT FROM AUTHOR]

The growing need for manipulators capable of handling delicate objects with care and coexisting safely with humans has brought soft robots to the forefront as a practical and cost-effective solution. In this context, this paper aims to explore soft grippers, a unique and versatile subset of soft robots. It provides an overview of various soft grasping techniques and materials, highlighting their respective advantages and limitations, along with showcasing several designed and tested models. As medicine and agriculture are acknowledged as pivotal domains required for basic human survival, this paper explores the potential applications of soft robotic grippers in these respective fields. Additionally, it further investigates how soft grippers can contribute to reducing cost and enhancing production efficiency while addressing practical relevant solutions. Considering the escalating environmental threats, particularly in oceans and coral reefs, the paper examines the potential of soft grasping underwater to mitigate these challenges, considered as crucial for conserving the fisheries industry and pertinent economic fields. Lastly, it outlines the current challenges and future prospects of soft grippers, emphasizing the importance of overcoming obstacles through finding solutions such as using bioinspiration to create effective technical solutions and highlighting the importance of commercialization. [Display omitted] [ABSTRACT FROM AUTHOR]

Grasping and object manipulation is a key element of intelligent behavior. Many innovative cyberphysical systems involve some kind of object grasp and manipulation, to the extent that grasping has been recognized as a critical technology for the next generation industrial systems. In this survey, we aim to draw a broad landscape of applications and current research trends and topics relating to grasping techniques and tools. Applications range from biomedical and surgical to industrial warehouse pick and place tasks, covering a wide range of spatial scales, from micro to macro scales. The resources involved and research lines under development include the latest computational intelligence tools as well as the research on new materials and devices for sensing and actuation. [ABSTRACT FROM AUTHOR]

Different experimental techniques which have been developed to obtain data related to force-deformation behaviour of soft tissues play an important role in realistically simulating surgery processes as well as medical diagnoses and minimally invasive procedures. Indeed, an adequate quantitative description of soft-tissue-mechanical-behaviour requires high-quality experimental data to be obtained and analysed. In this review article we will first scan the motivations and basic technical issues on surgery simulation. Then, we will concentrate on different experimental techniques developed for recording force-deformation (stress-strain) behaviour of soft tissues with focussing on the in-vivo experimental setups. We will thoroughly review the available techniques by classifying them to four groups; elastography, indentation, aspiration and grasping techniques. The evolutions, advantages and limitations of each technique will be presented by a historical review. At the end, a discussion is given with the aim of summarising the proposed points and predicting the future of techniques utilised in extracting data related to force-deformation behaviour. [ABSTRACT FROM AUTHOR]

Background: Numerous needleless techniques for tendon graft fixation that feature several advantages have been reported. However, there are few studies that have compared the holding strength between the needleless techniques (rolling hitch and modified rolling hitch) and traditional suture methods.Questions/purposes: To compare the tendon graft-holding strength of the rolling hitch and modified rolling hitch with the Krackow stitch in an in vitro porcine biomechanical model.Methods: Thirty fresh-frozen porcine flexor profundus tendons were randomly divided into three groups of 10 specimens. The experimental procedure was designed to assess elongation of the suture-tendon construct across the needleless tendon-grasping techniques and the Krackow stitch. All suture configurations were completed with a braided nonabsorbable suture. Each tendon was pretensioned to 100 N for three cycles, cyclically loaded from 50 to 200 N for 200 cycles, and then finally loaded to failure. Elongation, load to failure, and mode of failure were recorded for each specimen.Results: Five of the 10 rolling hitch specimens failed during cyclic loading. With the numbers available, elongation after cyclic loading was not different among the successful rolling hitch specimens (19% [1.19 cm/6.17 cm] ± 6%), modified rolling hitch fixations (19% [1.11 cm/ 5.93 cm] ± 6%), and Krackow stitch fixations (26% [1.41 cm/5.43 cm] ± 6%); ultimate failure loads also were not different among the rolling hitch fixations (316 ± 35 N), modified rolling hitch fixations (342 ± 14 N), and Krackow stitches (327 ± 33 N) with the numbers available.Conclusions: With the numbers available, the rolling hitch, modified rolling hitch, and Krackow stitch techniques were not different in terms of elongation after cyclic loading and to failure in this in vitro biomechanical evaluation.Clinical Relevance: Based on the biomechanical properties from this in vitro animal study, the modified rolling hitch may be an attractive alternative for tendon graft fixation in ligament-reconstruction surgery. Future studies might consider further evaluating these needleless techniques in a cadaver model, in an in vivo animal model, and in an intraarticular model in which the testing is performed in the presence of synovial fluid. [ABSTRACT FROM AUTHOR]

This article evaluates hand-picking methods as candidate grasping techniques for implementation in a robotic system designed to harvest apples. The standard method of hand-picking apples is highly selective to the apple's orientation and stem location. However, sensory detection of the fruit's orientation and stem while the apple is on the tree is a challenging problem requiring significant computation time. In this study, four picking techniques that do not require knowledge of fruit orientation were applied to five apple varieties growing in several different cultivation systems. The sensors used during hand-picking included force sensors and an inertial measurement unit. Experimental results were obtained for normal contact forces during a three-fingered power grasp as well as the angle of rotation around the axis of the forearm. Field data and controlled laboratory experiments show that fruit separation can be clearly detected. Accelerometer measurements were also used to calculate the average distance to fruit separation, which varied from 3 to 7 cm. The optimum picking method relative to stem attachment was identified for each apple variety. [ABSTRACT FROM AUTHOR]

Objectives: Capuchin monkeys are well known to have a high degree of manual dexterity. In this study, we assessed the variability of capuchin grasping actions involving power grips, i.e., manual actions in which the object is grasped between the palm and one or several parts of the fingers and that do not necessarily involve individually controlled finger movements. Planning abilities in executing actions were also evaluated. Methods: Twenty tufted capuchins (Sapajus spp.) were tested in a task requiring individuals to grasp a dowel inserted into a vertical tube. We examined their grasping techniques, focusing on the following aspects: (i) the different hand postures made during grasping, (ii) the frequency of thumb use in opposition to the other fingers, (iii) the asymmetric use of the hands, and (iv) the configuration of the grasping action for the purpose of comfortably bringing the food to the mouth. Results: Eight power-grip variants were identified, with individual capuchins performing an average of more than five different grips. The use of the thumb in opposition to the other areas of the hand, as reported in studies of precision grips, also appears to be a common feature in power grips. No evidence of group-level manual asymmetries was found. Adult capuchins were better than immature individuals in planning grasping actions in relation to following task demands. Discussion: Overall, these findings clarify the extent to which manual dexterity and cognitive abilities can be expressed in the grasping tasks of highly manually skilled primate species. [ABSTRACT FROM AUTHOR]

Abstract: We address a “sticking object” problem for the release of whole-hand virtual grasps. The problem occurs when grasping techniques require fingers to be moved outside an object''s boundaries after a user''s (real) fingers interpenetrate virtual objects due to a lack of physical motion constraints. This may be especially distracting for grasp techniques that introduce mismatches between tracked and visual hand configurations to visually prevent interpenetration. Our method includes heuristic analysis of finger motion and a transient incremental motion metaphor to manage a virtual hand during grasp release. We integrate the method into a spring model for whole-hand virtual grasping to maintain the physically-based pickup and manipulation behavior of such models. We show that the new spring model improves release speed and accuracy based on pick-and-drop, targeted ball-drop, and cube-alignment experiments. In contrast to a standard spring-based grasping method, measured release quality does not depend notably on object size. Users subjectively prefer the new approach and it can be tuned to avoid potential side effects such as increased drops or visual distractions. We further investigated a convergence speed parameter to find the subjectively good range and to better understand tradeoffs in subjective artifacts on the continuum between pure incremental motion and rubber-band-like convergence behavior. [Copyright &y& Elsevier]

Abstract: Grasping is essential for primates in numerous behaviors. A variety of different grasping techniques are used for obtaining food. Among humans, several studies have shown that the properties of the objects such as the size or the form influence grasp patterns. In addition, other works have tested the individual variability through grasping strategies and age and several studies have revealed some similarities between great apes and humans in grip types. Finally, results on hand preference are still equivocal and, for non-human primates, object parameters and age effect are rarely tested together, even though it is a methodological aspect important to consider. The study sought to determine whether grip type varied according to the age of the subject, the species (human versus chimpanzee), the size of the object and the hand used. Frame-by-frame analysis of hand contact strategies and statistical results indicated that (1) adults of both species used fewer contact strategies than juveniles and that there was a greater variability of contacts for small than for large objects (2) young juvenile chimpanzees and human children follow a similar grip types development, i.e. more frequent use of precision grips with age (3) juvenile chimpanzees used all five categories of grip and the adults used the “thumb-fingerpad(s)” more than the “precision grips” in addition to the “power grip” and (4) a right hand preference was greater for the grasping of small objects with “precision grips” in adults for both species. These results are discussed in relationship with neurology, morphology and grasping evolution. [ABSTRACT FROM AUTHOR]

This study investigates prehension in 20 tufted capuchins (Cebus apella) in a reaching task requir- ing individuals to grasp a small food item fixed to a tray. The aim was twofold: 1) to describe capuchins' grasping techniques in detail, focusing on digit movements and on different areas of contact between the grasping fingers; and 2) to assess the relationship between grip types and manual laterality in this species. Capuchins picked up small food items using a wide variety of grips. In particular, 16 precision grip variants and 4 power grip variants were identified. The most frequently used precision grip involved the distal lateral areas of the thumb and the index finger, while the most preferred kind of power grip involved the thumb and the palm, with the thumb being enclosed by the other fingers. Immature capuchins picked up small food items using power grips more often than precision grips, while adult individuals exhibited no significant preference for either grip type. The analysis performed on the time capuchins took to grasp the food and withdraw it from the tray hole revealed that 1) precision grips were as efficient as power grips; 2) for precision grips, the left hand was faster than the right hand; and 3) for power grips, both hands were equally quick. Hand preference analysis, based on the frequency for the use of either hand for grasping actions, revealed no significant hand bias at group level. Likewise, there was no signifi- cant relationship between grip type and hand preference. [ABSTRACT FROM AUTHOR]

Objective. This study investigated the initial strength and failure mode of different rotator cuff repair techniques.Background. Full or partial re-rupture of the repair is one of the main post-operative complications for rotator cuff repair. The rate of failure is strongly affected by the extension of the tear, increasing in case of large or massive tears up to 62%.Design. The study was planned to assess the three individual components of the tendon-to-bone repair (tendon grasping, suture knotting, suture-to-bone fixation) and to identify the best combinations in terms of mechanical strength to failure. The best combinations were tested to compare the mechanical behaviour of the entire repair and suggest potential improvements in the repair technique.Methods. Experimental tests were performed using sheep shoulders. Three tendon-grasping techniques, two suture knotting techniques, and the effect of bone augmentation with metallic plate and bone quality on suture-to-bone fixation were investigated.Results. This study assessed the mechanical behaviour of different repair components. The best combinations of the investigated techniques showed that the weakest link was the tendon–suture interface. More importantly, the compliance of the investigated repairs was large.Conclusions. The initial strength of the rotator cuff repair can be improved by changing the repair technique. Nevertheless, even a low physiological load stressing the repaired tendon may cause a gap formation at the tendon–bone interface without necessarily producing failure of the repair.RelevancePost-operative protection of the repaired rotator cuff from tension load is necessary to reduce the risk of delaying or preventing of the healing process. [Copyright &y& Elsevier]

Presents a study which described grasping techniques among primates, focusing on digit movements and on areas of contact between the grasping fingers in the prehension of small and big objects. Material and method; Results and discussion.