The spatial dependency of shoulder muscular demands during upward and downward exertions

Lifting and lowering are common occupational tasks contributing to shoulder injury risk. Quantifying task interaction with physical demand can precipitate better workstation designs. Nineteen university-aged males performed one-handed, submaximal upward/downward manual force exertions at 70 hand locations; unilateral electromyography (EMG) of 14 muscles was recorded. EMG across planes was evaluated with ANOVA. Predictive equations for muscle activity throughout the reach envelope were developed with stepwise regression. Total muscle activity (sum of individual muscle activity) was most sensitive to vertical hand location for upward exertions, where activation at superior locations was 192% of values for inferior locations. For upward exertions, activation differences for hand location occurred along all anatomical axes, and along anterior/posterior and superior/inferior axes for downward exertions. Predictive equations were non-linear, reflecting complex muscular demand with three-dimensional hand location. This work details foundational exposure data for lifting/lowering exertions. Results are applicable to workstation design to minimise occupational shoulder muscular demands.

Practitioner Summary: Lifting and lowering in the workplace contribute to shoulder injury risk. Shoulder muscle activity magnitudes revealed a dependence on three-dimensional hand location in the reach envelope for a defined hand force. This information can inform evidence-based workstation designs that reduce shoulder muscular demands for numerous materials handling scenarios.     

A study of the difference between nominal and actual hand forces in two-handed sagittal plane whole-body exertions

Given a task posture, changes in hand force magnitude and direction with regard to joint locations result in variations in joint loads. Previous work has quantified considerable vertical force components during push/pull exertions. The objective of this work was to quantify and statistically model actual hand forces in two-hand, standing exertions relative to the required nominal horizontal and vertical hand forces for a population of widely varying stature and strength. A total of 19 participants exerted force on a fixed handle while receiving visual feedback on the magnitude of force exerted in the required horizontal or vertical direction. A set of regression equations with adjusted R(2) values ranging from 0.20 to 0.66 were developed to define actual hand force vectors by predicting off-axis forces from the required hand force magnitude. Off-axis forces significantly increase the overall magnitude of force exerted in two-hand push/pull and up/down standing force exertions. STATEMENT OF RELEVANCE: This study quantifies and statistically models actual hand forces in two-hand, standing exertions. Inaccuracies in hand force estimates affect the ability to accurately assess task-oriented strength capability. Knowledge of the relationship between nominal and actual hand forces can be used to improve existing ergonomic analysis tools, including biomechanical simulations of manual tasks.     

Spatial dependency of shoulder muscle demands in horizontal pushing and pulling

Pushing and pulling account for nearly half of all manual material handling tasks. The purpose of this investigation was to develop a 3-D spatial muscle activity map for the right upper extremity during pushing and pulling tasks. Nineteen males performed 140 ramped directional hand exertions (70 push; 70 pull) at locations along three axes aligned with the anatomical planes. Electromyography (EMG) of 14 sites on the right upper extremity was recorded. Two directional 3-way repeated measures ANOVAs assessed the influence of hand position on EMG. Hand position and exertion direction influenced total and individual muscle demand. During pulling exertions, all three hand location parameters influenced total muscle activity (p < 0.001) and similarly in pushing exertions (p < 0.002), though less pronounced than in pulling. Data were used to create equations to predict the muscle activity of untested hand locations for novel work design scenarios.     

Low-back biomechanics and static stability during isometric pushing

Pushing and pulling tasks are increasingly prevalent in industrial workplaces. Few studies have investigated low-back biomechanical risk factors associated with pushing, and we are aware of none that has quantified spinal stability during pushing exertions. Data recorded from 11 healthy participants performing isometric pushing exertions demonstrated that trunk posture, vector force direction of the applied load, and trunk moment were influenced (p < .01) by exertion level, elevation of the handle for the pushing task, and foot position. A biomechanical model was used to analyze the posture and hand force data gathered from the pushing exertions. Model results indicate that pushing exertions provide significantly (p < .01) less stability than lifting when antagonistic cocontraction is ignored. However, stability can be augmented by recruitment of muscle cocontraction. Results suggest that cocontraction may be recruited to compensate for the fact that equilibrium mechanics provide little intrinsic trunk stiffness and stability during pushing exertions. If one maintains stability by means of cocontraction, additional spinal load is thereby created, increasing the risk of overload injury. Thus it is important to consider muscle cocontraction when evaluating the biomechanics of pushing exertions. Potential applications of this research include improved assessment of biomechanical risk factors for the design of industrial pushing tasks.     

Grip force and force sharing in two different manipulation tasks with bottles

Abstract

Grip force and force sharing during two activities of daily living were analysed experimentally in 10 right-handed subjects. Four different bottles, filled to two different levels, were manipulated for two tasks: transporting and pouring. Each test subject’s hand was instrumented with eight thin wearable force sensors. The grip force and force sharing were significantly different for each bottle model. Increasing the filling level resulted in an increase in grip force, but the ratio of grip force to load force was higher for lighter loads. The task influenced the force sharing but not the mean grip force. The contributions of the thumb and ring finger were higher in the pouring task, whereas the contributions of the palm and the index finger were higher in the transport task. Mean force sharing among fingers was 30% for index, 29% for middle, 22% for ring and 19% for little finger.

Practitioner Summary: We analysed grip force and force sharing in two manipulation tasks with bottles: transporting and pouring. The objective was to understand the effects of the bottle features, filling level and task on the contribution of different areas of the hand to the grip force. Force sharing was different for each task and the bottles features affected to both grip force and force sharing.     

Relationships between psychophysically acceptable and maximum voluntary hand force capacity in the context of underlying biomechanical limitations

This research investigated if proportional relationships between psychophysically acceptable and maximum voluntary hand forces are dependent on the underlying biomechanical factor (i.e. whole body balance or joint strength) that limited the maximum voluntary hand force. Eighteen healthy males completed two unilateral maximal exertions followed by a 30 min psychophysical load-adjust protocol in each of nine pre-defined standing scenarios. Center of pressure (whole body balance) and joint moments (joint strength) were calculated to evaluate whether balance or joint strength was most likely limiting maximum voluntary hand force. The ratio of the psychophysically acceptable force to the maximal force was significantly different depending on the underlying biomechanical factor. Psychophysically acceptable hand forces were selected at 86.3 ± 19.7% of the maximum voluntary hand force when limited by balance (pulling exertions), 67.5 ± 15.2% when limited by joint strength (downward pressing) and 78 ± 23% when the limitation was undefined in medial exertions.     

Effects of handle orientation,gloves, handle friction and elbow posture on maximum horizontal pull and push forces

Biomechanical models were evaluated for effects of handle orientation, handle material, gloves and arm posture on maximal pull/push force. Eight healthy subjects performed maximum pull/push exertions on handles with two different orientations and two different surface materials, using bare hand and two types of glove as well as two arm postures. The empirical data supported the proposed biomechanical models: Pull/push forces for the bare hand on a rubber handle decreased 10% when the handle was parallel to the pull/push direction, compared with when perpendicular to it. For parallel handles, pull/push forces further decreased with decreasing hand–handle friction coefficient (simulated by different handle materials and gloves). Pull force exerted by the bare hand was 29% greater when the elbow was extended than when flexed. Pull force was greater than push force (with bare hand and flexed elbow). The biomechanical models suggest that friction between the hand and handle limits pull/push forces for parallel handles. Elbow strength may be responsible for decreased pull force for the flexed elbow posture and decreased force for pull compared with push in the postures examined.

Statement of Relevance: Biomechanical models presented in this paper provide insights for causes of upper extremity strength limitations during pull/push tasks. Findings in this paper can be used directly in the design of workstation and objects to reduce fatigue and risk of musculoskeletal disorders.     

The interacting effects of forearm rotation and exertion direction on male and female wrist strength

The accurate estimation of wrist strength is an important component of ergonomics task evaluation, as a vast majority of occupational tasks involve use of the hands to generate forces and moments. The purpose of this study was to examine the interacting effects of forearm rotation (pronation/supination) and wrist exertion direction on strength at the wrist joint in males and females. A total of 24 male and female participants performed maximum isometric wrist exertions while maintaining a non-deviated wrist posture (no flexion/extension or radial/ulnar deviation) and an open hand. Maximum wrist moments were obtained in combinations of three forearm rotations (90° pronation, neutral, 90° supination) and four exertion directions (flexion, extension, radial and ulnar deviation). A greater effect of forearm rotation was observed for males, as strength in the neutral forearm posture was significantly different than pronated and supinated postures in 5 of 8 comparisons. For females, both wrist flexion and extension strengths were higher in neutral, compared to supinated forearm postures. The findings of this study suggest that wrist strength does depend on forearm rotation, and this interaction between axes needs to be accounted for in future strength capability estimates.Relevance to industryThis study shows that wrist strength estimates, currently used by ergonomics software packages in industry, can be improved to more accurately reflect the actual wrist strength capabilities of workers during hand-intensive tasks.     

Shoulder muscle activity in off-axis pushing and pulling tasks

Workspace design can often dictate the muscular efforts required to perform work, impacting injury risk. Within many environments, industrial workers often use sub-maximal forces in offset directions in to accomplish job tasks. The purpose of this research was to develop methods to estimate shoulder muscle activation during seated, static, sub-maximal exertions in off-axis (non-cardinal) directions. Surface EMG signals were recorded from 14 upper extremity muscles in 20 right-handed university aged, right-handed males (age: 22 ± 3 years, weight: 77.5 ± 11.1 kg, height 179.0 ± 7.0 cm) participated in this study. Each participant performed 60 submaximal exertions (40N) directed at 4 off-axis phase angles of 45° (45°, 135°, 225°, and 315°) in 3 planes (frontal, sagittal, and transverse) in 5 hand locations within a right handed reach envelope. The influence of hand location and force direction on muscle activity was evaluated with a forced-entry stepwise regression model. The ability of previously published on-axis prediction equations to predict muscle activity during these off-axis exertions was also evaluated. Within each muscle, activity levels were affected by both hand location and three-dimensional force direction and activation levels ranged from <1 to 37 %MVE. For each force direction there were 75 predictive equations selected and used, and the specific equation that best predicted activation depended on the muscle, exertion direction and hand location evaluated. This work assists ergonomic workplace design to minimize muscle demands during commonly performed off-axis exertions. These estimated demands can be employed to improve workplace design to reduce workplace injuries and enhance worker productivity.     

The impact of work configuration,target angle and hand force direction on upper extremity muscle activity during sub-maximal overhead work

Overhead work has established links to upper extremity discomfort and disorders. As many jobs incorporate working overhead, this study aimed to identify working conditions requiring relatively lower muscular shoulder load. Eleven upper extremity muscles were monitored with electromyography during laboratory simulations of overhead work tasks. Tasks were defined with three criteria: work configuration (fixed, stature-specific); target angle (?15°, 0°, 15°, 30° from vertical); direction of applied hand force (pulling backwards, pushing forwards, downwards, sideways, upwards). Normalised electromyographic activity was greater for fixed configurations, particularly when pulling in a backward direction (total activity = 108.3% maximum voluntary exertion (MVE)) compared to pushing down or forward (total activity ranging from 10.5 to 17.3%MVE). Further, pulling backwards at angles of –15° and 0° showed the highest muscular demand (p < 0.05). These results suggest that, if possible, positioning overhead work in front of the body with exertions directed forwards will result in the lowest upper extremity muscle demand.

Statement of Relevance: Overhead work pervades occupational settings and is associated with risk of upper extremity musculoskeletal disorders. The muscular intensity associated with performing overhead work was assessed in several combinations of work placement and hand force direction. These findings should have utility for designing overhead work tasks that reduce muscular exposure.     

Measurement of prehensile grasp capabilities by a force and moment wrench: Methodological development and assessment of manual workers

Prehensile grasp capability is typically quantified by pinch and grasp forces. This work was undertaken to develop a methodology to assess complex, multi-axis hand exertions through the measurement of forces and moments exerted by the hand along and about three orthogonal axes originating at the grip centre; termed an external wrench. Instrumentation consisting of a modified pinch/grip dynamometer affixed to a 6?df force cube was developed to simultaneously measure three forces, three moments and the pinch/grip force about the centre of the grip. Twenty right hand dominant manual workers (10 male and 10 female), free of hand or wrist disorders, completed a variety of maximal strength tasks. The randomized block design involved three separate grips?–?power grip, lateral pinch and pulp pinch. Randomized within each block were three non-concurrent repetitions of isolated maximal force and moment generations along and about the three principle orthogonal axes and a maximal grip force exertion. Trials were completed while standing, with the arm abducted and elbow flexed to 90° with a wrist posture near neutral. Where comparable protocols existed in the literature, forces and moments exerted were found to be of similar magnitude to those reported previously. Female and male grip strengths on a Jamar dynamometer were 302.6?N and 450.5?N, respectively. Moment exertions in a power grip (female and male) were 4.7 Nm and 8.1 Nm for pronator, 4.9 Nm and 8.0 Nm for supinator, 6.2 Nm and 10.3 Nm for radial deviator, 7.7 Nm and 13.0 Nm for ulnar deviator, 6.2 Nm and 8.2 Nm for extensor, and 7.1 Nm and 9.3 Nm for flexor moments. Correlations with and between maximal force and moment exertions were only moderate. This paper describes instrumentation that allows comprehensive characterization of prehensile force and moment capability.     

Hybrid motion/force control: a review

Abstract

This paper reviews hybrid motion/force control, a control scheme which enables robots to perform tasks involving both motion, in the free space, and interactive force, at the contacts. Motivated by the large amount of literature on this topic, we facilitate comparison and elucidate the key differences among different approaches. An emphasis is placed on the study of the decoupling of motion control and force control. And we conclude that it is indeed possible to achieve a complete decoupling; however, this feature can be relaxed or sacrificed to reduce the robot’s joint torques while still completing the task.     

Measurement of prehensile grasp capabilities by a force and moment wrench: methodological development and assessment of manual workers

Prehensile grasp capability is typically quantified by pinch and grasp forces. This work was undertaken to develop a methodology to assess complex, multi-axis hand exertions through the measurement of forces and moments exerted by the hand along and about three orthogonal axes originating at the grip centre; termed an external wrench. Instrumentation consisting of a modified pinch/grip dynamometer affixed to a 6 df force cube was developed to simultaneously measure three forces, three moments and the pinch/grip force about the centre of the grip. Twenty right hand dominant manual workers (10 male and 10 female), free of hand or wrist disorders, completed a variety of maximal strength tasks. The randomized block design involved three separate grips--power grip, lateral pinch and pulp pinch. Randomized within each block were three non-concurrent repetitions of isolated maximal force and moment generations along and about the three principle orthogonal axes and a maximal grip force exertion. Trials were completed while standing, with the arm abducted and elbow flexed to 90 degrees with a wrist posture near neutral. Where comparable protocols existed in the literature, forces and moments exerted were found to be of similar magnitude to those reported previously. Female and male grip strengths on a Jamar dynamometer were 302.6 N and 450.5 N, respectively. Moment exertions in a power grip (female and male) were 4.7 Nm and 8.1 Nm for pronator, 4.9 Nm and 8.0 Nm for supinator, 6.2 Nm and 10.3 Nm for radial deviator, 7.7 Nm and 13.0 Nm for ulnar deviator, 6.2 Nm and 8.2 Nm for extensor, and 7.1 Nm and 9.3 Nm for flexor moments. Correlations with and between maximal force and moment exertions were only moderate. This paper describes instrumentation that allows comprehensive characterization of prehensile force and moment capability.     

The effects of joint torque, pace and work:rest ratio on powered hand tool operations

Repetitive use of hand-held power tools is associated with work-related upper extremity musculoskeletal disorders. Using a pneumatic nutrunner, 21 men completed twelve 360 repetitive fastener-driving sessions on three joints (hard, soft and control) at slow and fast pace, and two different work:rest patterns. Handgrip force and perceived exertions were collected throughout each session. For the control joint, the mean grip force exerted was 39.6% of maximum voluntary exertion (MVE) whereas during hard and soft joint sessions it was 48.9% MVE and 56.9% MVE, respectively. Throughout each session, the grip force decreased, more while operating soft and hard joints as compared with the control joint (regression slope: ?0.022 and ?0.023, compared with ?0.007 N/drive, respectively), suggesting considerable upper extremity muscular effort by participants during torque buildup. Fast work pace resulted in higher average grip forces by participants but a greater decrease in the force as the session progressed. Providing rest breaks reduced perceived exertions. The findings gain additional knowledge for assembly task design to possibly reduce the hand/arm injury risks for the operator.

Practitioner Summary: Powered hand tools are widely used in assembly and manufacturing industries. However, the nature of their repetitive use on human operator biomechanical and perceptual responses is not fully understood. This study examined work-related risk factors such as joint torque, pace and work:rest ratios on powered hand tool performance.     

Inward torque and high-friction handles can reduce required muscle efforts for torque generation

OBJECTIVE: The effects of handle friction and torque direction on muscle activity and torque are empirically investigated using cylindrical handles. BACKGROUND: A torque biomechanical model that considers contact force, friction, and torque direction was evaluated using different friction handles. METHODS: Twelve adults exerted hand torque in opposite directions about the long axis of a cylinder covered with aluminum or rubber while grip force, torque, and finger flexor electromyography (EMG) were recorded. In addition, participants performed grip exertions without torque, in which they matched the EMG level obtained during previous maximum torque exertions, to allow us to determine how grip force was affected by the absence of torque. RESULTS: (a) Maximum torque was 52% greater for the high-friction rubber handle than for the low-friction aluminum handle. (b) Total normal force increased 33% with inward torque (torque applied in the direction fingertips point) and decreased 14% with outward torque (torque in the direction the thumb points), compared with that with no torque. Consequently, maximum inward torque was 45% greater than maximum outward torque. (c) The effect of torque direction was greater for the high-friction rubber handle than for the low-friction aluminum handle. CONCLUSION: The results support the proposed model, which predicts a large effect of torque direction when high-friction handles are gripped. APPLICATION: Designing tasks with high friction and inward rotations can increase the torque capability of workers of a given strength, or reduce required muscle activities for given torque exertions, thus reducing the risk of fatigue and musculoskeletal disorders.     

Forearm posture and grip effects during push and pull tasks

Direction of loading and performance of multiple tasks have been shown to elevate muscle activity in the upper extremity. The purpose of this study was to evaluate the effects of gripping on muscle activity and applied force during pushing and pulling tasks with three forearm postures. Twelve volunteers performed five hand-based tasks in supinated, neutral and pronated forearm postures with the elbow at 90° and upper arm vertical. All tasks were performed with the right (dominant) hand and included hand grip alone, push and pull with and without hand grip. Surface EMG from eight upper extremity muscles, hand grip force, tri-axial push and pull forces and wrist angles were recorded during the 10 s trials. The addition of a pull force to hand grip elevated activity in all forearm muscles (all p < 0.017). During all push with grip tasks, forearm extensor muscle activity tended to increase when compared with grip only while flexor activity tended to decrease. Forearm extensor muscle activity was higher with the forearm pronated compared with neutral and supinated postures during most isolated grip tasks and push or pull with grip tasks (all p < 0.017). When the grip dynamometer was rotated so that the push and pull forces could act to assist in creating grip force, forearm muscle activity generally decreased. These results provide strategies for reducing forearm muscle loading in the workplace.

Statement of Relevance: Tools and tasks designed to take advantage of coupling grip with push or pull actions may be beneficial in reducing stress and injury in the muscles of the forearm. These factors should be considered in assessing the workplace in terms of acute and cumulative loading.     

Force capability differences due to gloves

There are many tasks in the industrial environment, involving the use of the hands, for which gloves are required or voluntarily used by many workers. When an individual grasps a handle in attempting to exert short-term maximum force his/ her capability is influenced by the use of gloves.

The purpose of this investigation was to determine the influence of a single glove and a double glove on handle forces generated by individuals. Thirty male volunteers were used as subjects. The maximum pull force, maximum push force, maximum wrist flexion torque and maximum wrist extension torque were measured under the condition of a slippery handle. These exertions of the subject's dominant hand were measured while using no glove, one glove and two gloves. Results indicated that the one-glove condition was superior to the conditions of no glove or double gloves for the forces and torques measured     

Wrist strength is dependent on simultaneous power grip intensity

The effect of grip activities on wrist flexion/extension strength was examined. Twelve healthy subjects performed maximum wrist flexion/extension exertions with one of five levels of simultaneous grip effort: minimum effort; preferred effort; 30%, 60% and 100% maximum voluntary contraction. As grip force increased from the minimum to the maximum effort, average wrist flexion strength increased 34% and average wrist extension strength decreased 10%. It appears that the finger flexor tendons on the volar aspect of the wrist act agonistically in wrist flexion and act antagonistically to wrist extension. When an object gripped by the hand is fragile or uncomfortable, the reduced finger flexor activity will limit wrist flexion strength. Gripping a slippery object that requires high grip effort will result in reduced wrist extension strength. Grip force should be controlled during measurement of wrist flexion or extension strength. When analysing a task that involves both grip and wrist exertions, use of grip/wrist strength values that were measured during grip exertions only, or wrist exertions only, may incorrectly estimate the true grip/wrist strength, as grip and wrist activities significantly interact with each other as demonstrated in this paper.     

Calibrating Borg scale ratings of hand force exertion

A study was conducted to assess the efficacy of calibrating subjective worker ratings of hand exertions to reduce error in estimates of applied force. Twenty volunteer subjects applied pinch and power grip forces corresponding to their perceptions of different Borg CR-10 scale levels using both "grip-to-scale" and "guided-grip" procedures. These data were used separately to define relationships between scale ratings and actual force application. Two gripping tasks were performed and corresponding subjective hand force ratings were calibrated using the grip-to-scale calibration data. Results showed that the mean estimation error for a 44.5 N (10 lb) power grip task was significantly reduced from 142.8 (+/-69.0) to 62.3 (+/-58.3) N. The guided-grip calibration method also significantly reduced rating error for the power grip task, however the estimates were biased toward zero. Neither calibration procedure improved rating accuracy of an 8.9 N (2 lb) pinch grip task. The study results indicate that calibration of hand force ratings using the grip-to-scale procedure may improve the accuracy of hand exertion measurements using the Borg CR-10 scale.     

MSR4SM: Using topic models to effectively mining software repositories for software maintenance tasks

ContextMining software repositories has emerged as a research direction over the past decade, achieving substantial success in both research and practice to support various software maintenance tasks. Software repositories include bug repository, communication archives, source control repository, etc. When using these repositories to support software maintenance, inclusion of irrelevant information in each repository can lead to decreased effectiveness or even wrong results.ObjectiveThis article aims at selecting the relevant information from each of the repositories to improve effectiveness of software maintenance tasks.MethodFor a maintenance task at hand, maintainers need to implement the maintenance request on the current system. In this article, we propose an approach, MSR4SM, to extract the relevant information from each software repository based on the maintenance request and the current system. That is, if the information in a software repository is relevant to either the maintenance request or the current system, this information should be included to perform the current maintenance task. MSR4SM uses the topic model to extract the topics from these software repositories. Then, relevant information in each software repository is extracted based on the topics.ResultsMSR4SM is evaluated for two software maintenance tasks, feature location and change impact analysis, which are based on four subject systems, namely jEdit, ArgoUML, Rhino and KOffice. The empirical results show that the effectiveness of traditional software repositories based maintenance tasks can be greatly improved by MSR4SM.ConclusionsThere is a lot of irrelevant information in software repositories. Before we use them to implement a maintenance task at hand, we need to preprocess them. Then, the effectiveness of the software maintenance tasks can be improved.