Chapter 2. Prehension

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List of Figures xv
Shape invariance in wrist tangential velocity ..... 124
Acceleration and deceleration in aiming tasks ..... 126
VITE (Vector Integration to Endpoint) model ..... 129
Velocity profiles from the VI'IE model ............ 130
Jordan network for inverse kinematics ............ 132
Learned location sequences for manipulator ...... 134
Massone & Bizzi computational model ........... 136
Generalization capability of model ................. 137
Double target experiment ............................ 138
Kawato et a1 . learning model ........................ 139
Wrist velocity and aperture vs . distance ........... 143
Movement time for stationary or moving objects . 149
Aperture for normal and prosthetic hands ......... 150
Finger and thumb adjustments during pinch ...... 153
Mechanical perturbation to pull arm backwards . . 158
Perturbation of object direction ..................... 160
Perturbation of object size ........................... 164
Grasping with pad and palm opposition ........... 168
Peak aperture and dowel size: pad and palm ...... 170
Peak aperture and dowel size: palm, pad and W 172
Neural pathways during hand movements ........ 176
Kinematics for normal or peripheral vision ....... 180
Dowel size for normal or peripheral vision ........ 181
Kinematics for normal or central vision ........... 182
Patient grasping without sensory feedback ........ 186
Ballpark for placing mug on table .................. 188
Schema model for preshape and enclose .......... 190
EMG activity during preshape and enclose ....... 193
Palm-focused model of grasping ................... 195
Ballpark model of grasping ......................... 197
Black box: setting up an opposition space ......... 198
Structure of hairless skin ............................ 208
Friction: hysteresis and adhesion ................... 212
Sweat beads on palm ................................. 215
Sweat discharge on palm ............................ 217
Sweat, friction and grip .............................. 221
Mechanoreceptors in skin ........................... 223
Characteristics of skin mechanoreceptors ......... 225
Mechanoreceptors in finger joints .................. 227
Exploratory procedures (EPs) ...................... 232
Hand about to grasp object: object support ........ 235
Point contact and soft finger contact ............... 236