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135 results for “Grasping”
Toward Early and Objective Hand Osteoarthritis Detection by using EMG during grasps
<p>Dataset analyzed in the study "Toward Early and Objective Hand Osteoarthritis Detection by using EMG during grasps". Use of the data requires proper reference to [1].</p> <p>Dataset contains Electromyographic data from forearm, recorded with an 8-channel sEMG Biometrics Ltd. device. The fields contained in the structure are those detailed in the following scheme::</p> <ul> <li>Group: 0 for healthy subjects; 1 for HOA patients</li> <li>Subject: subject ID;</li> <li>Grasp: grasp ID, according to Figure 1 [1];</li> <li>Raw EMG data (7 columns): Raw sEMG data without any filter and not resampled, for the seven representative spot areas according to [2].</li> </ul> <p>[1] Jarque-Bou, N.J.; Gracia-Ibáñez, V.; Roda-Sales, A.; Bayarri-Porcar, V.; Sancho-Bru, J.L.; Vergara, M. Toward Early and Objective Hand Osteoarthritis Detection by Using EMG during Grasps. <em>Sensors</em> <strong>2023</strong>, <em>23</em>, 2413. https://doi.org/10.3390/s23052413</p> <p>[2] Jarque-Bou, N. J., Vergara, M., Sancho-Bru, J. L., Alba, R.-S. & Gracia-Ibáñez, V. Identification of forearm skin zones with similar muscle activation patterns during activities of daily living. <em>J. NeuroEngineering Rehabil. </em>(2018).</p> <p> </p>
Data for: MOGrip: Gripper for multi-object grasping in pick-and-place tasks using translational movements of fingers
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Data from: Noninvasive electroencephalogram based control of a robotic arm for reach and grasp tasks
Open the record for dataset details and reuse information.
Kinematics of reach-to-grasp and displacement after stroke
<p>This dataset contains upper limb kinematics of 10 chronic stroke-subjects that were collected within the pilot study “Usability and acceptability test of the Instrumented Arm and Hand Measurement System (iHAMS) for assessing arm and hand function after stroke”, which received approval by legal authorities (BASEC-ID: Req-2019-00417).</p> <p>Participants were measured when performing a set of reach-to-grasp and displacement tasks, adapted from items of the Action Research Arm Test (ARAT, Lyle 1981). Each participant was asked to grasp 10x10cm blocks of three different weights (BL = 108g, BW = 490g, BH = 1008g) and to displace them to four different target locations (Tab1 = ipsilateral arm length on table, Tab2 = abducted arm length on table, Top3 = ipsilateral arm length on top shelf, Top4 = abducted arm length on top shelf).</p> <p> </p> <p>Kinematic parameters were derived by use of a distributed inertial sensing system, consisting of eight inertial measurement units and three fingertip force resistive sensors that provides gyroscope data around three axis at sampling rate of 200 and accelerometer data in three directions at a sampling rate of 100. </p> <p>Each file represents one trial execution and is named according to the participant ID, task number, tested upper limb and repetition.</p> <p>This data collection was performed in collaboration between the University of Zurich and the University of Twente within the European project “SoftPro” under grant agreement No.688857.</p>
Neural population dynamics in motor cortex are different for reach and grasp
<p>Low-dimensional linear dynamics are observed in neuronal population activity in primary motor cortex (M1) when monkeys make reaching movements. This population-level behavior is consistent with a role for M1 as an autonomous pattern generator that drives muscles to give rise to movement. In the present study, we examine whether similar dynamics are also observed during grasping movements, which involve fundamentally different patterns of kinematics and muscle activations. Using a variety of analytical approaches, we show that M1 does not exhibit such dynamics during grasping movements. Rather, the grasp-related neuronal dynamics in M1 are similar to their counterparts in somatosensory cortex, whose activity is driven primarily by afferent inputs rather than by intrinsic dynamics. The basic structure of the neuronal activity underlying hand control is thus fundamentally different from that underlying arm control.Low-dimensional linear dynamics are observed in neuronal population activity in primary motor cortex (M1) when monkeys make reaching movements. This population-level behavior is consistent with a role for M1 as an autonomous pattern generator that drives muscles to give rise to movement. In the present study, we examine whether similar dynamics are also observed during grasping movements, which involve fundamentally different patterns of kinematics and muscle activations. Using a variety of analytical approaches, we show that M1 does not exhibit such dynamics during grasping movements. Rather, the grasp-related neuronal dynamics in M1 are similar to their counterparts in somatosensory cortex, whose activity is driven primarily by afferent inputs rather than by intrinsic dynamics. The basic structure of the neuronal activity underlying hand control is thus fundamentally different from that underlying arm control.</p>
Data from: Soft-surface grasping: radular opening in Aplysia californica
Grasping soft, irregular material is challenging both for animals and robots. The feeding systems of many animals have adapted to this challenge. In particular, the feeding system of the marine mollusk, Aplysia californica, a generalist herbivore, allows it to grasp and ingest seaweeds of varying shapes, textures and toughness. On the surface of Aplysia's grasper is a structure known as the radula, a thin flexible cartilaginous sheet with fine teeth. Previous in vitro studies suggested that an intrinsic muscle, I7, is responsible for opening the radula. Lesioning I7 in vivo does reduce opening width, but does not prevent animals from grasping and ingesting food. New in vitro studies demonstrate that a set of fine muscle fibers on the ventral surface of the radula, the subradular fibers (SRFs), mediate opening movements even if the I7 muscles are absent. Both in vitro and in vivo lesions demonstrate that removing the subradular fibers leads to profound deficits in radular opening, and significantly reduces feeding efficiency. A theoretical biomechanical analysis of the actions of the subradular fibers suggests that they induce the radular surface to open around a central crease in the radular surface and to arch the radular surface, allowing it to softly conform to irregular material. A three-dimensional model of the radular surface, based on in vivo observations and magnetic resonance imaging of intact animals, provides support for the biomechanical analysis. These results suggest how a soft grasper can work during feeding, and suggest novel designs for artificial soft graspers.
The influence of tool use experience on efficient grasping in children.
<p>Dataset representing the data of the paper "The influence of tool use experience on efficient grasping in children." accepted for publication in the European Journal of Developmental Psychology.</p>
Data from: Grasping the shape of belemnoid arm hooks - a quantitative approach
Chitinous arm hooks (onychites) of belemnoid coleoid cephalopods are widely distributed in Mesozoic sediments. Due to their relative abundance and variable morphology compared with the single, bullet-shaped, belemnite rostrum, arm hooks came into the focus of micropaleontologists as a promising index fossil group for the Jurassic–Cretaceous rock record and have been the target of functional, ecological, and phylogenetic interpretations in the past. Based on three well-preserved arm crowns of the Toarcian diplobelid Chondroteuthis wunnenbergi, we analyzed the shape of a total of 87 micro-hooks. The arm crown of Chondroteuthis is unique in having uniserial rather than biserial hooks. The first application of elliptic Fourier shape analysis to the arm weapons of belemnoid coleoids allows for the distinction of four micro-hook morphotypes and the quantification of shape variation within these morphotypes. Based on the best-preserved arm crown, we reconstructed the distribution of morphotypes within the arm crown and along a single arm. Our quantitative data support former observations that smaller hooks were found close to the mouth and at the most distal arm parts, while the largest hooks were found in the central part of the arm crown. Furthermore, we found a distinct arm differentiation, as not every arm was equipped with the same hook morphotype. Here, we report the functional specialization of the belemnoid arm crown for the first time and speculate about the potential function of the four morphotypes based on comparisons with modern cephalopods. Our analyses suggest a highly adapted functional morphology and intra-individual distribution of belemnoid hooks serving distinct purposes mainly during prey capture.
Dataset from 'Kangur, K., Billino, J., & Hesse, C. (2017). Keeping safe: Intra-individual consistency in obstacle avoidance behaviour across grasping and locomotion task. i-perception, 8(1), 1-10. DOI: 10.1177/2041669517690412'
<p>Dataset associated with the following publication:</p> <p>Kangur, K., Billino, J., & Hesse, C. (2017). Keeping safe: Intra-individual consistency in obstacle avoidance behaviour<br> across grasping and locomotion task. i-perception, 8(1), 1-10. DOI: 10.1177/2041669517690412 <span><a></a></span></p> <p>The folder contains a data file and a description file providing column lables.</p> <p>For further questions, please contact:<br> c.hesse[at]abdn.ac.uk</p>
Data to: "Distinct Neural Components of Visually Guided Grasping during Planning and Execution"
<p>This record contains experimental and analysis scripts (written in Matlab) as well as raw and processed data to reproduce the results shown in:</p><p>Klein LK<strong>†</strong>, Maiello G<strong>†</strong>, Stubbs KM, Proklova D, Chen J, Paulun VC, Culham JC, Fleming RW (2023) Distinct neural components of visually guided grasping during planning and execution. <i>Journal of Neuroscience.</i> <a href="https://doi.org/10.1523/JNEUROSCI.0335-23.2023">10.1523/JNEUROSCI.0335-23.2023</a>.<i> <strong>†</strong>Co-first author</i></p>
How to Swoop and Grasp like a Bird with a Passive Claw for High-Speed Grasping
<p>This dataset corresponds to the publication:</p> <p>"How to Swoop and Grasp like a Bird with a Passive Claw for High-Speed Grasping" W. Stewart, E. Ajanic, M. M¨uller, and D. Floreano. Transactions on Mechatronics.</p>
Fig. 9 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 9. Femoro-tibial joint of the hind legs in Alticini (Chrysomelidae) and Rhamphini (Curculionidae). A, B, Longitarsus sp., A, genuflexor sclerite in a locked position, B, genuflexor sclerite in an unlocked position, C, D Disonycha xanthomela, C, genuflexor sclerite in a locked position, D, genuflexor sclerite in an unlocked position, E, F, Orchestes mixtus, E, tibial flexor sclerite in an unlocked position, F, tibial fexor sclerite in a locked position (GFS = genuflexor scelite,TFS = tibial flexor sclerite, s = distal sclerotic element of the femoral abutment [=femoral abutment of Lever's trinagular plate], vfw = ventral femoral wall, distal to the left).
Fig. 7 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 7. SEM micrographs showing anatomical structures at the femoro-tibal joint of the fore leg of male T. dalmanni. A, internal (dorsal) view, B, ventral view, C, external (ventral view), D, ventral view, E and F, lateral view (GFS = genuflexor sclerite,TFS = tibial flexor sclerite, HL = Heitler's lump, pit = pit corresponding to the invagination of the femoro-tibial flexor tendon, fe-tifld = distal tibial flexor muscle [potential trigger or release muscle], fe-tiflp=proximal tibial flexor muscle, distal to the left).
Fig. 8 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 8. TEM and CLSM micrographs showing the femoro-tibial joint in T. dalmanni (TFS = tibial flexor sclerite, core = electron dense core ofTFS, cov = electron lucent external surface [coating] on the ventral portion of the TFS, col = electron dense external region [coating] on the lateral portion of the TFS, tib = tibia, fe-tifld = distal tibial flexor muscle [potential trigger or release muscle], fe-tiflp = proximal tibial flexor muscle, distal to the left).
Fig. 6 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 6. Synchrotron-based micro-CT micrographs showing the femoro-tibial joint of grasping legs. A–F, T. dalmanni, male, fore leg; G, H, Podagrion sp., female, hind leg (GFS = genuflexor sclerite,TFS = tibial flexor sclerite, HL = Heitler's lump, con = femoro-tibial conjunctiva, cnd = condyles [pivot points], tib = tibia, fem = femur, A–F, distal to the right, H, distal to the left).
Fig. 4 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 4. Synchrotron based micro-CT micrographs of the femoro-tibial joints of the stalk-eyed fly, Teleopsis dalmanni (Wiedemann, 1830). A–D, male fore leg; E, female fore leg; F, G, male middle and hind legs (GFS = genuflexor sclerite,TFS = tibial flexor sclerite, HL = Heitler's lump, fe-tifld = distal tibial flexor muscle (potential trigger or release muscle), fe-tiflp = proximal tibial flexor muscle, fem = femur, tib = tibia, A–D, distal to the left; E–F, distal to the top.
Fig. 5 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 5. Bright field images and CLSM micrographs of the femoro-tibial joint of grasping insect legs. A–D, T. dalmanni, female, fore leg; E–F, Ochthera sp., female, fore leg; G, Podagrion sp., female, hind leg; H, T. dalmanni, male, fore leg (GFS = genuflexor sclerite,TFS = tibial flexor sclerite, HL = Heitler's lump, ten = tendon of the femoro-tibial muscle, con = femoro-tibial conjunctiva; cov = glassy ventral layer of the tibial flexor sclerite; fe-tifl = tibial flexor muscle, pit = pit corresponding to the invagination of the femoro-tibial flexor tendon, tib=tibia).
Fig. 3 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 3. Line drawings showing the three major types of locking mechanisms in the ventral portion of the femoro-tibial joint. Left: extended position; Right: flexed position. (A, B) TFS over Heitler's lump without conjunctiva in between (grasping legs); (C, D) GFS locked at tip of femur, no conjunctiva in between (Alticini); (E, F) GFS over Heitler's lump with conjunctiva in-between (Orthoptera); (G, H) TFS locked at tip of femur, conjunctiva in between; GFS = genuflexor sclerite, TFS = tibial flexor sclerite, distal to the left.
Fig. 2 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 2. The femoro-tibial joint of the hind leg of the locust, Omocestus haemorrhoidalis (Charpentier, 1825) (Orthoptera:Acrididae); (A–C) closing of the joint, (D) open joint, (E) closed joint (conjunctiva is located between Heitler's lump and GFS), (F) open joint (CLSM), (G) same at greater magnification (GFS = genulexor sclerite, conj = conjunctiva between the site of origin of the tibial flexor tendon and the distoventral margin of the femur, HL = Heitler's lump, SLP = semilunar process, distal to the left).
Fig. 1 in Jumping and Grasping: Universal Locking Mechanisms in Insect Legs
Fig. 1. Generalized representation of an insect leg and modifications in the tibio-femoral joint for jumping and grasping.Two muscles connect the tibia and the femur.The tibial flexor (blue) bends (flexes) while the tibial extensor (brown) straightens (extends) the femoro-tibial joint.The tibial extensor is enlarged in a jumping legs (A), the two muscles are similar in their mass in walking legs (B), and the tibial flexor is enlarged in grasping legs (C).The locking mechanism between the tibial flexor muscle tendon and the ventral wall of the tibia is composed of the Heitler's lump (HL) and the genuflexor sclerite (GFS) in orthopterans (flexed (D) and extended (E) positions, modified after Gronenberg 1996; cx = coxa, tr = trochanter, tib = tibia, fem = femur, tar = tarsus; distal to the left).
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