Chapter 2. Prehension

Table of Contents xiii
Appendix C Computational Neural Modelling ... 381
C.l Introduction ........................................ 381
C.2 Artificial Neural Networks ....................... 384
C.2 . 1 Activation finctions and network
topologies ................................... 384
C.2.2 Adaptation in neural networks ............ 389
C.2.3 Processing capabilities in neural
networks ..................................... 395
C.3 Network Examp1e:Heteroassociative memories 395
C.4 Processing Example ............................... 397
C.5 Summary ........................................... 399
Appendix D Prosthetic and Robotic Hands ....... 401
D.l Introduction ........................................ 401
D.2 Prostheses and Their Control .................... 403
0.2.1 Control of prosthetic devices .............. 403
0.2.2 Split hook ................................... 405
0.2.3 Commercially available mechanical
hands ......................................... 409
0.2.4 Commercially available electrical hands . 4 10
D 2 5 Commercially available specialized
devices: neither split hook nor hand ...... 412
0.2.6 Research examples ......................... 414
D.3 Dextrous Robot Hands ........................... 417
0.3.1 StanfordlJPL hand ......................... 418
0.3.2 UtahlMIT hand ............................. 419
0.3.3 BelgradelUSC hand ........................ 420
REFERENCES ........................................................... 423
AUTHOR INDEX ........................................................ 455
SUBJECT INDEX ....................................................... 463