Chapter 2. Prehension

More documents

Recommendations

Info

V F l p PALM <strong>Chapter</strong> 5 - Movement Before Contact 197 A B C Figure 5.33 The behavior of the palm-focused model of setting up opposition space for prehension. The dashed line along the long axis of the object shows the opposition vector perceived in the object. The solid lines show the hand configuration for pad opposition, where VF1 is the thumb and VF2 is the one or more fingers in opposition. Starting at an initial posture and hand location (A), the palm is positioned and oriented and fingers shaped into some ballpark of the desired location and posture, shown in dashed lines (B). Then, while the arm makes necessary fine adjustments to align the palm, the fingers close trying to go into the object, but are stopped by actual contact (C). mass, and distribution of mass. Since behavioral experiments define the task as the environmentally defined task, we list tasks used in the experiments, such as ‘aim’, ‘fit’, ’grasp’, ‘place’, etc. Observable kinematic features of prehensile behaviors come from the transport component and from the grasp component. From the transport component, movement time, wrist velocity, acceleration, and even jerk have been measured. For these, peaks and time to and after peaks have been used to help identify potential control variables. In terms of the grasp configuration, the aperture between thumb and index finger has been a critical metric of prehension, while also joint angles have also been measured. Even from common everyday experiences, it can be seen that hands preshape into some suitable posture as reaching to grasp objects occurs. Teasing apart the reasons for how and why these unrestrained
198 THE PHASES OF PREHENSION Obi& Task INTRINSIC - spatial density aspect of texture - fragility -weight - size - shape - aenterof mass - distribution of mass EXTRINSIC -orientation - distance - direction ? - motion 0 Aim Fit Grab Grasp Lift Place Place Precisely Point Tap Throw TUmSCRW AT REST ATPEAK'APERTURE - AT CONTACT HAND TRANSPORT Movement time Velocity - peak velocity - time to peak - time in deceleration phase Acceleration -peak acceleration -time to peak acceleration - peak deceleration - time to peak deceleration - time after peak deceleration Higher Derivatives GRASP CONFIGURATION Apeaure -peakaperture - time to peak aperture - time after peak aperture -rate of enclosing Hand Configuration -joint angles - Begment lengths Figure 5.34 The black box revisited. Objects have intrinsic and also extrinsic properties. At the environmentally-defined level, tasks include grasp, lift, and place. At the kinematic level, prehensile behavior can be measured by movement time, velocity, acceleration, etc. For grip evaluating, a key metric has been the grip aperture, or the thumb and index finger separation over time.
Page 3 and 4:
ADVANCES IN PSYCHOLOGY 104 Editors:
Page 5 and 6:
NORTH-HOLLAND ELSEVIER SCIENCE B.V.
Page 7 and 8:
vi THE GRASPING HAND including comp
Page 9 and 10:
viii THE GRASPING HAND Finally, all
Page 11 and 12:
X THE GRASPING HAND 4.2 Task Plans
Page 13 and 14:
xii THE GRASPING HAND Part I11 CONS
Page 15 and 16:
xiv Figure 1.1 Figure 1.2 Figure 1.
Page 17 and 18:
XVi THE GRASPING HAND Figure 6.12 F
Page 19 and 20:
This Page Intentionally Left Blank
Page 21 and 22:
Page 23 and 24:
4 WHAT IS PREHENSION? The hand itse
Page 25 and 26:
6 WHAT IS PREHENSION? continue in t
Page 27 and 28:
8 WHAT IS PREHENSION? movement. Dom
Page 29 and 30:
10 WHAT IS PREHENSION? Today, with
Page 31 and 32:
12 WHAT IS PREHENSION? prehensile b
Page 33 and 34:
Page 35 and 36:
16 WHAT IS PREHENSION? (1988) refer
Page 37 and 38:
18 WHAT IS PREHENSION? in Table 2.1
Page 39 and 40:
20 WHAT IS PREHENSION? Table 2.1 Pr
Page 41 and 42:
22 WHAT IS PREHENSION? Schlesinger
Page 43 and 44:
24 WHAT IS PREHENSION? A. POWER GRA
Page 45 and 46:
emphasis on Grasp emphasis on secur
Page 47 and 48:
28 WHAT IS PREHENSION? (screwing on
Page 49 and 50:
30 WHAT IS PREHENSION? suggested th
Page 51 and 52:
Figure 2.5 Prehensile postures cons
Page 53 and 54:
Figure 2.7 Oppositions can be descr
Page 55 and 56:
36 WHAT IS PREHENSION? Many posture
Page 57 and 58:
38 WHAT IS PREHENSION? and unwieldy
Page 59 and 60:
40 WHAT IS PREHENSION? d Figure 2.9
Page 61 and 62:
42 WHAT IS PREHENSION? quired oppos
Page 63 and 64:
44 WHAT IS PREHENSION? sion; i.e.,
Page 65 and 66:
46 WHAT IS PREHENSION? impossible t
Page 67 and 68:
Page 69 and 70:
50 THE PHASES OF PREHENSION V cm/s
Page 71 and 72:
52 THE PHASES OF PREHENSION - 0 200
Page 73 and 74:
54 THE PHASES OF PREHENSION recogni
Page 75 and 76:
56 THE PHASES OF PREHENSION Executi
Page 77 and 78:
58 THE PHASES OF PREHENSION untary
Page 79 and 80:
60 THE PHASES OF PREHENSION isting
Page 81 and 82:
Page 83 and 84:
64 THE PHASES OF PREHENSION ence, w
Page 85 and 86:
66 THE PHASES OF PREHENSION being p
Page 87 and 88:
68 (sticks up) THE PHASES OF PREHEN
Page 89 and 90:
70 THE PHASES OF PREHENSION (right
Page 91 and 92:
72 THE PHASES OF PREHENSION organiz
Page 93 and 94:
74 THE PHASES OF PREHENSION movemen
Page 95 and 96:
76 THE PHASES OF PREHENSION and bas
Page 97 and 98:
78 THE PHASES OF PREHENSION Figure
Page 99 and 100:
80 THE PHASES OF PREHENSION Again,
Page 101 and 102:
82 THE PHASES OF PREHENSION c Oppos
Page 103 and 104:
84 THE PHASES OF PREHENSION the mac
Page 105 and 106:
86 THE PHASES OF PREHENSION (surfac
Page 107 and 108:
88 THE PHASES OF PREHENSION influen
Page 109 and 110:
90 THE PHASES OF PREHENSION able to
Page 111 and 112:
92 THE PHASES OF PREHENSION A Pfing
Page 113 and 114:
94 THE PHASES OF PREHENSION forces,
Page 115 and 116:
- Computed activation of arm muscle
Page 117 and 118:
98 THE PHASES OF PREHENSION were in
Page 119 and 120:
Page 121 and 122:
102 THE PHASES OF PREHENSION same t
Page 123 and 124:
104 THE PHASES OF PREHENSION OBJECT
Page 125 and 126:
106 THE PHASES OF PREHENSION planni
Page 127 and 128:
Page 129 and 130:
110 THE PHASES OF PREHENSION antici
Page 131 and 132:
112 THE PHASES OF PREHENSION and te
Page 133 and 134:
114 THE PHASES OF PREHENSION presen
Page 135 and 136:
116 THE PHASES OF PREHENSION determ
Page 137 and 138:
118 THE PHASES OF PREHENSION 5.3 Co
Page 139 and 140:
120 THE PHASES OF PREHENSION tance
Page 141 and 142:
122 THE PHASES OF PREHENSION where
Page 143 and 144:
Page 145 and 146:
126 THE PHASES OF PREHENSION A B 18
Page 147 and 148:
128 THE PHASES OF PREHENSION where
Page 149 and 150:
130 THE PHASES OF PREHENSION SR = .
Page 151 and 152:
132 THE PHASES OF PREHENSION MODEL
Page 153 and 154:
134 THE PHASES OF PREHENSION A B Fi
Page 155 and 156:
136 THE PHASES OF PREHENSION to mus
Page 157 and 158:
138 THE PHASES OF PREHENSION method
Page 159 and 160:
140 THE PHASES OF PREHENSION tire b
Page 161 and 162:
142 THE PHASES OF PREHENSION torque
Page 163 and 164:
144 THE PHASES OF PREHENSION relate
Page 165 and 166: 146 THE PHASES OF PREHENSION the ob
Page 167 and 168: 148 THE PHASES OF PREHENSION abilit
Page 169 and 170: 150 THE PHASES OF PREHENSION +60 1
Page 171 and 172: 152 THE PHASES OF PREHENSION result
Page 173 and 174: 154 THE PHASES OF PREHENSION the di
Page 175 and 176: 156 THE PHASES OF PREHENSION crease
Page 177 and 178: 158 THE PHASES OF PREHENSION betwee
Page 179 and 180: 160 50 1 THE PHASES OF PREHENSION 1
Page 181 and 182: 162 THE PHASES OF PREHENSION positi
Page 183 and 184: - Velocity - Acceleration s-L 1400
Page 185 and 186: 166 THE PHASES OF PREHENSION vocal
Page 187 and 188: 168 THE PHASES OF PREHENSION C z3Oo
Page 189 and 190: 170 THE PHASES OF PREHENSION 150 T
Page 191 and 192: 172 THE PHASES OF PREHENSION T 150
Page 193 and 194: 174 THE PHASES OF PREHENSION grasp
Page 195 and 196: 176 AREA 7 (IPS) THE PHASES OF PREH
Page 197 and 198: 178 THE PHASES OF PREHENSION books
Page 199 and 200: 180 THE PHASES OF PREHENSION h .r?.
Page 201 and 202: 182 THE PHASES OF PREHENSION A B C
Page 203 and 204: 184 THE PHASES OF PREHENSION (1982b
Page 205 and 206: 186 THE PHASES OF PREHENSION _ - B
Page 207 and 208: 188 THE PHASES OF PREHENSION A +6 1
Page 209 and 210: 190 THE PHASES OF PREHENSION activa
Page 211 and 212: 192 THE PHASES OF PREHENSION shape,
Page 213 and 214: 194 THE PHASES OF PREHENSION the st
Page 215: 196 THE PHASES OF PREHENSION collap
Page 219 and 220: 200 THE PHASES OF PREHENSION might
Page 221 and 222: This Page Intentionally Left Blank
Page 223 and 224: 204 THE PHASES OF PREHENSION about
Page 225 and 226: 206 THE PHASES OF PREHENSION hands
Page 227 and 228: 208 THE PHASES OF PREHENSION Epider
Page 229 and 230: 210 THE PHASES OF PREHENSION the pe
Page 231 and 232: 212 THE PHASES OF PREHENSION FtiYsT
Page 233 and 234: 214 THE PHASES OF PREHENSION focusi
Page 235 and 236: 216 THE PHASES OF PREHENSION thermo
Page 237 and 238: 218 THE PHASES OF PREHENSION nonner
Page 239 and 240: 220 THE PHASES OF PREHENSION hot-wa
Page 241 and 242: 222 THE PHASES OF PREHENSION which,
Page 243 and 244: 224 THE PHASES OF PREHENSION which
Page 245 and 246: 226 THE PHASES OF PREHENSION for FA
Page 247 and 248: 228 THE PHASES OF PREHENSION differ
Page 249 and 250: 230 THE PHASES OF PREHENSION (see C
Page 251 and 252: 232 THE PHASES OF PREHENSION LATERA
Page 253 and 254: 234 THE PHASES OF PREHENSION more a
Page 255 and 256: 236 THE PHASES OF PREHENSION A Poin
Page 257 and 258: 238 THE PHASES OF PREHENSION Figure
Page 259 and 260: 240 THE PHASES OF PREHENSION 6.3.2
Page 261 and 262: 242 THE PHASES OF PREHENSION equati
Page 263 and 264: 244 THE PHASES OF PREHENSION necess
Page 265 and 266: 246 THE PHASES OF PREHENSION graspi
Page 267 and 268:
248 A THE PHASES OF PREHENSION Figu
Page 269 and 270:
250 z J 2 0 c .- Q el X A THE PHASE
Page 271 and 272:
252 THE PHASES OF PREHENSION respec
Page 273 and 274:
254 THE PHASES OF PREHENSION Z 151
Page 275 and 276:
256 THE PHASES OF PREHENSION mechan
Page 277 and 278:
258 THE PHASES OF PREHENSION see He
Page 279 and 280:
260 THE PHASES OF PREHENSION might
Page 281 and 282:
262 THE PHASES OF PREHENSION long a
Page 283 and 284:
264 THE PHASES OF PREHENSION with u
Page 285 and 286:
266 THE PHASES OF PREHENSION Table
Page 287 and 288:
268 THE PHASES OF PREHENSION system
Page 289 and 290:
270 THE PHASES OF PREHENSION In cla
Page 291 and 292:
Table 6.6 Elliott & Connolly (1984)
Page 293 and 294:
274 THE PHASES OF PREHENSION shape
Page 295 and 296:
276 THE PHASES OF PREHENSION In imp
Page 297 and 298:
278 THE PHASES OF PREHENSION cause
Page 299 and 300:
aie3 INTRINSIC - mughnesn aspect of
Page 301 and 302:
Page 303 and 304:
284 THE PHASES OF PREHENSION percei
Page 305 and 306:
Page 307 and 308:
288 THE PHASES OF PREHENSION approa
Page 309 and 310:
290 5. 6. 7. 8. 9. 10. 11. 12. 13.
Page 311 and 312:
292 THE PHASES OF PREHENSION Fitts
Page 313 and 314:
294 THE PHASES OF PREHENSION accele
Page 315 and 316:
296 THE PHASES OF PREHENSION 27. Ce
Page 317 and 318:
298 THE PHASES OF PREHENSION charac
Page 319 and 320:
300 THE PHASES OF PREHENSION are se
Page 321 and 322:
Page 323 and 324:
Page 325 and 326:
306 CONSTRAINTS AND PHASES Table 8.
Page 327 and 328:
308 CONSTRAINTS AND PHASES the inde
Page 329 and 330:
310 CONSTRAINTS AND PHASES While th
Page 331 and 332:
312 CONSTRAINTS AND PHASES for a gi
Page 333 and 334:
314 CONSTRAINTS AND PHASES fine, su
Page 335 and 336:
316 CONSTRAINTS AND PHASES level fi
Page 337 and 338:
318 CONSTRAINTS AND PHASES spent in
Page 339 and 340:
z I l l I 0 Y "K ' ,------ Sensorim
Page 341 and 342:
322 CONSTRAINTS AND PHASES componen
Page 343 and 344:
324 CONSTRAINTS AND PHASES and the
Page 345 and 346:
326 CONSTRAINTS AND PHASES 8.6 Summ
Page 347 and 348:
Page 349 and 350:
330 CONSTRAINTS AND PHASES 9.1 The
Page 351 and 352:
332 CONSTRAINTS AND PHASES b) impar
Page 353 and 354:
334 CONSTRAINTS AND PHASES The defi
Page 355 and 356:
336 CONSTRAINTS AND PHASES less pre
Page 357 and 358:
338 CONSTRAINTS AND PHASES transpor
Page 359 and 360:
Opposition Space level Sensorimotor
Page 361 and 362:
342 CONSTRAINTS AND PHASES 9.3 Futu
Page 363 and 364:
344 CONSTRAINTS AND PHASES scientif
Page 365 and 366:
Page 367 and 368:
Page 369 and 370:
350 Appendices Anterior (ventral):
Page 371 and 372:
352 Appendices =!- / Scapula Acromi
Page 373 and 374:
354 A pp e n dices Table A.l Degree
Page 375 and 376:
356 Appendices Table A.l Degrees of
Page 377 and 378:
358 Appendices Flexion: to bend or
Page 379 and 380:
360 A pp e n dic e s Table A.2 Join
Page 381 and 382:
362 A pp e It dices Elbow flex ext
Page 383 and 384:
364 A pp e n dices Table A.2 Joints
Page 385 and 386:
366 A pp e n dic e s Table A.3 Inne
Page 387 and 388:
Page 389 and 390:
370 Appendices Table B.l Prehensile
Page 391 and 392:
372 Appendices ...... ........... t
Page 393 and 394:
374 Appendices features of the huma
Page 395 and 396:
376 Appendices fingers (Kamakura et
Page 397 and 398:
378 Appendices Table B.3 Postures c
Page 399 and 400:
380 Appendices opposition, is Napie
Page 401 and 402:
382 A pp e n dic e s relationships
Page 403 and 404:
384 A pp e n dic e s C.2 Artificial
Page 405 and 406:
386 A pp e n dic e s thresholding f
Page 407 and 408:
388 A pp e n dices processing. This
Page 409 and 410:
390 Appendices between two units in
Page 411 and 412:
392 A pp e n dic e s where q is a s
Page 413 and 414:
394 A pp e It d ic e s training set
Page 415 and 416:
396 A pp e It dic e s units. Also,
Page 417 and 418:
398 Appendices only sense is vision
Page 419 and 420:
400 A pp e n dices of computations
Page 421 and 422:
402 A pp e n dic e s satisfy active
Page 423 and 424:
404 Appendices biceps, and shoulder
Page 425 and 426:
406 Appendices Table D.l Commercial
Page 427 and 428:
408 Appendices Table D.2 Commercial
Page 429 and 430:
410 Appendices Sears et al., 1989).
Page 431 and 432:
412 A ppe It dic e s are active, wh
Page 433 and 434:
414 A ppen die es automatic lock wh
Page 435 and 436:
416 A pp e n dices between the thum
Page 437 and 438:
418 Appendices D.3.1 Stanford/JPL h
Page 439 and 440:
420 A pp e n dices D.3.3 Belgrade/U
Page 441 and 442:
Page 443 and 444:
424 THE GRASPING HAND Arbib, M.A. (
Page 445 and 446:
426 THE GRASPING HAND Bullock, D.,
Page 447 and 448:
428 THE GRASPING HAND Cutkosky, M.R
Page 449 and 450:
430 THE GRASPING HAND Focillon, H.
Page 451 and 452:
432 THE GRASPING HAND Gordon, A.M.,
Page 453 and 454:
434 THE GRASPING HAND Hollerbach, J
Page 455 and 456:
436 THE GRASPING HAND Jeannerod, M.
Page 457 and 458:
438 THE GRASPING HAND Kamakura, N.,
Page 459 and 460:
440 THE GRASPING HAND Landsmeer, J.
Page 461 and 462:
442 THE GRASPING HAND MacKenzie, C.
Page 463 and 464:
444 THE GRASPING HAND Moore, D.F. (
Page 465 and 466:
446 THE GRASPING HAND Phillips, C.G
Page 467 and 468:
448 THE GRASPING HAND Rumelhart, D.
Page 469 and 470:
450 THE GRASPING HAND disconnection
Page 471 and 472:
452 THE GRASPING HAND Weir, P.L. (1
Page 473 and 474:
Page 475 and 476:
456 THE GRASPING HAND Childress, D.
Page 477 and 478:
458 THE GRASPING HAND Johansson, R.
Page 479 and 480:
460 THE GRASPING HAND Proteau, L.,
Page 481 and 482:
Page 483 and 484:
464 THE GRASPING HAND level, of map
Page 485 and 486:
466 THE GRASPING HAND a h Generaliz
Page 487 and 488:
468 THE GRASPING HAND Forces. Force
Page 489 and 490:
470 THE GRASPING HAND han& Robotics
Page 491 and 492:
472 THE GRASPING HAND and force coo
Page 493 and 494:
474 THE GRASPING HAND and task requ
Page 495 and 496:
476 THE GRASPING HAND Pen, as grasp
Page 497 and 498:
478 THE GRASPING HAND Screwdriver,
Page 499 and 500:
480 THE GRASPING HAND and oppositio
Page 501:
482 THE GRASPING HAND and grasping,
show all

Chapter 2. Prehension

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?