According to basic physics, the local effects induced by gravity and acceleration are identical and cannot be separated by any physical experiment. In contrast-as this study shows-people adjust the grip forces associated with gravitational and inertial forces differently. In the experiment, subjects oscillated a vertically-oriented handle loaded with five different weights (from 3.8 N to 13.8 N) at three different frequencies in the vertical plane: 1 Hz, 1.5 Hz and 2.0 Hz. Three contributions to the grip force-static, dynamic, and stato-dynamic fractions-were quantified. The static fraction reflects grip force related to holding a load statically. The stato-dynamic fraction reflects a steady change in the grip force when the same load is moved cyclically. The dynamic fraction is due to acceleration-related adjustments of the grip force during oscillation cycles. The slope of the relation between the grip force and the load force was steeper for the static fraction than for the dynamic fraction. The stato-dynamic fraction increased with the frequency and load. The slope of the dynamic grip force-load force relation decreased with frequency, and as a rule, increased with the load. Hence, when adjusting grip force to task requirements, the central controller takes into account not only the expected magnitude of the load force but also such factors as whether the force is gravitational or inertial and the contributions of the object mass and acceleration to the inertial force. As an auxiliary finding, a complex finger coordination pattern aimed at preserving the rotational equilibrium of the object during shaking movements was reported.

Internal force is a set of contact forces that does not disturb object equilibrium. The elements of the internal force vector cancel each other and, hence, do not contribute to the resultant (manipulation) force acting on the object. The mathematical independence of the internal and manipulation forces allows for their independent (decoupled) control realized in robotic manipulators. To examine whether in humans internal force is coupled with the manipulation force and what grasping strategy the performers utilize, the subjects (n=6) were instructed to make cyclic arm movements with a customized handle. Six combinations of handle orientation and movement direction were tested. These involved: parallel manipulations (1) VV task (vertical orientation and vertical movement) and (2) HH task (horizontal orientation and horizontal movement); orthogonal manipulations (3) VH task (vertical orientation and horizontal movement) and (4) HV task (horizontal orientation and vertical movement); and diagonal manipulations (5) DV task (diagonal orientation and vertical movement) and (6) DH task (diagonal orientation and horizontal movement). Handle weight (from 3.8 to 13.8 N), and movement frequency (from 1 to 3 Hz) were systematically changed. The analysis was performed at the thumb-virtual finger level (VF, an imaginary finger that produces a wrench equal to the sum of wrenches produced by all the fingers). At this level, the forces of interest could be reduced to the internal force and internal moment. During the parallel manipulations, the internal (grip) force was coupled with the manipulation force (producing object acceleration) and the thumb-VF forces increased or decreased in phase: the thumb and VF worked in synchrony to grasp the object more strongly or more weakly. During the orthogonal manipulations, the thumb-VF forces changed out of phase: the plots of the internal force vs. object acceleration resembled an inverted letter V. The HV task was the only task where the relative phase (coupling) between the normal forces of the thumb and VF depended on oscillation frequency. During the diagonal manipulations, the coupling was different in the DV and DH tasks. A novel observation of substantial internal moments is described: the moments produced by the normal finger forces were counterbalanced by the moments produced by the tangential forces such that the resultant moments were close to zero. Implications of the findings for the notion of grasping synergies are discussed.

The experimental evidence supports the validity of the principle of superposition for multi-finger prehension in humans. Forces and moments of individual digits are defined by two independent commands: "Grasp the object stronger/weaker to prevent slipping" and "Maintain the rotational equilibrium of the object". The effects of the two commands are summed up.

In a majority of studies on grasp, only normal forces were measured and only when a zero torque was exerted on a hand-held object. This study concerns finger force vectors during the torque production tasks. Subjects (n = 8) stabilized a handle with an attachment that allowed for change of external torque from −1.5 to 1.5Nm. Forces and moments exerted by the digit tips on the object were recorded. At the large (>−0.375Nm) supination torques the index/middle and ring/little pairs of fingers generated oppositely directed tangential forces. The index and middle finger produced forces in a downward direction and therefore did not support the load. At a zero torque and pronation torques, the middle, ring and little fingers produced forces along nearly the same direction. The vector of the index finger force was always directed differently from the vectors of other finger forces, the angles ranged from 19°30′ to 47°40′. The points of force application were systematically displaced with the torque, with the exception of the little finger. Tangential finger forces contributed substantially to the total torque exerted on the hand-held object.

An intensive investigation was conducted to study the accumulation, speciation, and distribution of various heavy metals (As, Cd, Cr, Cu, Hg, Ni, Pb, and Zn) in sediments from the Yangtze River catchment of Wuhan, China. The potential ecological risks posed by these heavy metals also were estimated. The median concentrations of most heavy metals (As, Cd, Cr, Cu, Ni, Pb, and Zn) were higher than the background values of soils in Wuhan and were beyond the threshold effect level (TEL), implying heavy metal contamination of the sediments. Carbonate-bound Cd and exchangeable Cd, both of which had high bioavailability, were 40.2% and 30.5% of the total for Cd, respectively, demonstrating that Cd poses a high ecological risk in the sediments. The coefficients of the relationship among Pb, Hg, and Cu were greater than 0.797 using correlation analysis, indicating the highly positive correlation among these three elements. Besides, total organic carbon content played an important role in determining the behaviors of heavy metals in sediments. Principal component analysis was used to study the distribution and potential origin of heavy metals. The result suggested three principal components controlling their variability in sediments, which accounted for 36.72% (factor 1: Hg, Cu, and Pb), 28.69% (factor 2: Cr, Zn, and Ni), and 19.45% (factor 3: As and Cd) of the total variance. Overall, 75% of the studied sediment samples afforded relatively low potential ecological risk despite the fact that generally higher concentrations of heavy metals relative to TEL were detected in the sediments.