The Effects of Object Weight on the Kinematics of Prehension

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Abstract
The purpose of these experiments was to determine the effects of object weight and condition of weight presentation on the kinematics of human prehension. Subjects performed reaching and grasping movements to metal dowels whose visible characteristics were similar but whose weight varied (20, 55, 150, 410 g). Movements were performed under two conditions of weight presentation, random (weight unknown) and blocked (weight known). Three-dimensional movements of the thumb, index finger, and wrist were recorded, using a WATSMART system to obtain information regarding the grasp and transport components. The results of the first experiment indicated that object weight and condition of presentation affected the temporal and kinematic measures for both the grasp and transport components. In conjunction with the results of a second experiment, in which time in contact with the dowel was measured, it was shown that the free-motion phase of prehension (i.e., up to object contact) was invariant over the different conditions, however. The changes were observed in the finger-object interaction phase (when subjects applied forces after contact with the dowel), prior to lift-off. These results were interpreted as indicating (a) object weight does not influence the planning and execution of the free-motion phase of prehension and (b) there are at least two motor control phases involved in prehension, one for making contact with the object and the other for finger-object interaction. The changing contributions of visual, kinesthetic, and haptic information during these two phases is discussed.