Chapter 2. Prehension

XVi THE GRASPING HAND
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Figure A . 1
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Figure AS
Figure B . 1
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Two soft fingers contacting object ................. 238
Multijoint finger ...................................... 241
Applied force and cone of friction .................. 244
Two fingers and equilibrium ........................ 245
Apparatus for transducing grasping forces ........ 248
Grip and load forces: weight and texture .......... 250
Phases in applying grasping forces ................ 251
Grasping forces to acquire an object ............... 254
Grasping force errors ................................ 257
Performatory and exploratory movements ........ 267
Hand coordinate frame for manipulation .......... 270
Cone of friction and task mechanics ............... 275
Baton twirling (from Fearing) ...................... 277
Black box: using an opposition space .............. 280
Phases: an opposition space analysis .............. 284
Forces and kinematics over all phases ............. 286
Opposition vector and approach vector ............ 288
Palm-focused model of grasping ................... 291
Contact: using an opposition space ................. 297
Levels of mapping for humans and robots ........ 320
Black box revisited ................................... 330
Levels of mapping, over phases .................... 340
Triangle strategy revisited ........................... 342
Planes of the body .................................... 350
Upper limb skeleton .................................. 352
Bones and joints of hand and wrist ................ 353
Descriptions of movement ........................... 357
Dermatome mapping of upper limb ................ 365
Prehensile postures: summary view ................ 372
McCulloch-Pitts neuron vs . leaky integrator ...... 385
Input-output connativity ............................ 386
Multilayer connectivity .............................. 387
Recurrent nets that are completely connected ..... 388
Learning rules ......................................... 390
Generalized delta rule ................................ 393
Binary and distributed encodings ................... 394
Heteroassociative memory .......................... 396
Heteroassociative memory for grasping ........... 398
StanfordJPL hand ................................... 418
Utah/MIT hand ....................................... 419
Belgrade/USC hand .................................. 421