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When we manipulate objects in everyday tasks, there are variations in the shape of the grasped surfaces, and the loads that potentially destabilize the grasp include time-varying linear forces and torques tangential to the grasped surfaces. Previous studies of the control of fingertip forces for grasp stability have dealt principally with flat grip surfaces and linear force loads. Here, we studied the regulation of grip force with changes in curvature of grasped surfaces and changes in tangential torque applied by the index finger and thumb when humans lifted an object and rotated it about the horizontal grip axis through an angle of 65°. The curvatures of the matched pair of spherical surfaces varied from −50 m−1 (concave with radius 20 mm) to 200 m−1 (convex with radius 5 mm). The applied tangential torque at the orientation of 65° was varied sixfold. Regardless of the values of curvature and end torque, grip force and tangential torque were coordinated, increasing in parallel throughout the tilt with an approximately linear relationship; the slope of the line increased progressively with increasing surface curvature. This parametric scaling of grip force was directly related to the minimum grip force required to prevent rotational slip, resulting in an adequate safety margin against slip in all cases. We conclude that surface curvature parametrically influences grip force regulation when the digits are exposed to torsional loads. Furthermore, the sensorimotor programs that control the grip force apparently predict the effect of the total load comprising linear forces and tangential torques.

Control of Grip Force When Tilting Objects: Effect of Curvature of Grasped Surfaces and Applied Tangential Torque