Control of grasp stability under different frictional conditions has primarily been studied in manipulatory tasks involving two digits only. Recently we found that many of the principles for control of forces originally demonstrated for two-digit grasping also apply to various three-digit grasps. Here we examine the control of grasp stability in a multidigit task in which subjects used the tips of the thumb, index, and middle finger to lift an object. The grasp resembled those used when lifting a cylindrical object from above. The digits either all contacted the same surface material or one of the digits contacted a surface material that was more, or less, slippery than that contacted by the other two digits. The three-dimensional forces and torques applied by each digit and the contact positions were measured along with the position and orientation of the object. The distribution of forces among the digits strongly reflected constraints imposed by the geometric relationship between the object's center of mass and the contact surfaces. On top of this distribution, we observed changes in force coordination related to changes in the combination of surface materials. When all digits contacted the same surface material, the ratio between the normal force and tangential load ( F n: L ratio) was similar across digits and scaled to provide an adequate safety margin against slip. With different contact surfaces subjects adapted the F n: L ratios at the individual digits to the local friction with only small influences by the friction at the other two digits. They accomplished this by scaling the normal forces similarly at all digits and changing the distribution of load among the digits. The surface combination did not, however, influence digit position, tangential torque, or object tilting systematically. The change in load distribution, rather, resulted from interplay between these factors, and the nature of this interplay varied between trials. That is, subjects achieved grasp stability with various combinations of fingertip actions and appeared to exploit the many degrees of freedom offered by the multidigit grasp. The results extend previous findings based on two-digit tasks to multidigit tasks by showing that subjects adjust fingertip forces at each digit to the local friction. Moreover, our findings suggest that subjects adapted the load distribution to the current frictional condition by regulating the normal forces to allow slips to occur early in the lift task, prior to object lift-off.
Modeling and Simulating the Static Structural Response and Lift Off of a Preloaded Bolted Joint on a Flange
