Chapter 2. Prehension

Table of Contents xi
6.1 . 1 Skin structure andfunction:
from fingerprints to friction ............... 205
6.1.2 Eccrine glands and efferent control by
the autonomic nervous system ............ 214
6.1.3 Sensory receptors and afferent control by
the central nervous system ................ 222
6.2 Active Touch and Sensorimotor Integration .... 228
6.2.1 Wielding a stick:
feeling object length ......................... 229
6.2.2 Holding and jiggling:
discriminating weight ....................... 230
62.3 Object properties:
Exploratory procedures ..................... 231
6.3 Analytic Model of Grasping ...................... 234
6.3.1 Force transmittal in robotics ............... 235
6.3.2 Fingertip force and joint torques .......... 240
6.3.3 Stable grasp .................................. 242
6.4 Force Application in Human Pad Opposition ... 247
6.4.1 Quantifying grip and load forces in
pad opposition .............................. 247
6.4.2 Phases in applying grip and load forces .. 252
6.4.3 Slips, perturbations and magnets ......... 258
6.4.4 Object shape and contacting area:
Geometry of contact ........................ 261
6.5 Force Application with Other Oppositions ...... 262
6.5.1 Measuring forces ............................ 262
6.5.2 Analytic posture measures ................. 264
6.6 Moving a Grasped Object:
Transporting, Twiddling, and Twirling ........ 267
6.6.1 Manipulation by humans ................... 267
6.6.2 Manipulation by robots ..................... 273
6.7 Releasing an Opposition Space ................... 278
6.8 Summary of Using an Opposition Space ....... 279
Chapter 7 Summary of Opposition Space Phases 283
7.1 Planning an Opposition Space .................... 287
7.2 Setting Up an Opposition Space ................. 290
7.3 Using an Opposition Space ....................... 296
7.4 Releasing an Opposition Space ................... 299
7.5 Summary ............................................ 299