Chapter 2. Prehension

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<strong>Chapter</strong> 6 - During Contact 247 the gradient VU I (o,o,o) must be zero (Equation 22). The grasp is stable if and only if the potential function U(x,y,B) reaches a local minimum. For this, the Hessian matrix HI po,o) must be positive definite. This latter is true if and only if all its principal minors are strickly greater than zero. Its first two principal minors are always strictly positive, but there are two special cases for the third one. It is strictly positive if the compliance center16 is at the common intersection of the lines of action of the springs. It is also strictly positive if the compliance center is such that the weighted sum of the virtual springs is zero. Nguyen (1987a) showed stable grasps in three dimensions using soft finger contacts. While point contacts without friction were modelled as one linear spring, soft finger contacts are modelled as four springs. This system included three linear springs through the point of contact that are oriented along the normal and along two tangential directions to the surface contact, and one angular spring, with axis going through the contact point that is oriented along the normal of the contact surface. “With soft fingers, the larger the friction cone, the more likely the grasp is force closure. This is why people tend to grasp at sharp corners and edges (if parallel surfaces are not available).” (Nguyen, 1987b, p. 241). 6.4 Force Application in Human Pad Opposition 6.4.1 Quantifying grip and load forces in pad opposition In an elegant series of experiments, Westling and Johansson have investigated the force application in grasping (Johansson & Westling, 1990; Johansson & Westling, 1984b; Westling, 1986; Westling & Johansson, 1984). Subjects grasped objects of varying weights (200, 400, or 800 grams) and surface textures (silk, suede, sandpaper) using pad opposition between the index finger and the thumb. The test object had force transducers placed as indicated in Figure 6.16, providing measurement of grip forces for the thumb and index fingers, and the load force (or vertical lifting force). An ultrasound transducer and accelerometer measured object position and acceleration respectively . Manipulations of object weight affected both the load force and l6The center of compliance is the point of rotation of the planar object.
248 A THE PHASES OF PREHENSION Figure 6.16 A. A schematic drawing of the apparatus used by Westling and Johansson. a - table; b - holes in table; c - exchangeable weight shielded from the subject's view by the table; d- exhangeable discs which constituted the touch surfaces; e and f- vertical position transducer with an ultrasonic receiver (e) and an ultrasonic transmitter (f); g - accelerometer (10-600 Hz); h - strain-gauge force transducers for measurement of grip force and vertical lifting force also denoted load force (dc -120 Hz); i - peg having a hemispherical tip on which the object rests while
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ADVANCES IN PSYCHOLOGY 104 Editors:
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vi THE GRASPING HAND including comp
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emphasis on Grasp emphasis on secur
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306 CONSTRAINTS AND PHASES Table 8.
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Opposition Space level Sensorimotor
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350 Appendices Anterior (ventral):
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352 Appendices =!- / Scapula Acromi
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354 A pp e n dices Table A.l Degree
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356 Appendices Table A.l Degrees of
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358 Appendices Flexion: to bend or
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360 A pp e n dic e s Table A.2 Join
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362 A pp e It dices Elbow flex ext
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364 A pp e n dices Table A.2 Joints
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366 A pp e n dic e s Table A.3 Inne
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370 Appendices Table B.l Prehensile
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372 Appendices ...... ........... t
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374 Appendices features of the huma
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376 Appendices fingers (Kamakura et
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378 Appendices Table B.3 Postures c
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382 A pp e n dic e s relationships
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400 A pp e n dices of computations
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402 A pp e n dic e s satisfy active
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404 Appendices biceps, and shoulder
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406 Appendices Table D.l Commercial
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408 Appendices Table D.2 Commercial
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410 Appendices Sears et al., 1989).
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412 A ppe It dic e s are active, wh
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414 A ppen die es automatic lock wh
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418 Appendices D.3.1 Stanford/JPL h
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420 A pp e n dices D.3.3 Belgrade/U
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424 THE GRASPING HAND Arbib, M.A. (
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426 THE GRASPING HAND Bullock, D.,
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428 THE GRASPING HAND Cutkosky, M.R
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430 THE GRASPING HAND Focillon, H.
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432 THE GRASPING HAND Gordon, A.M.,
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434 THE GRASPING HAND Hollerbach, J
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436 THE GRASPING HAND Jeannerod, M.
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438 THE GRASPING HAND Kamakura, N.,
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440 THE GRASPING HAND Landsmeer, J.
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442 THE GRASPING HAND MacKenzie, C.
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444 THE GRASPING HAND Moore, D.F. (
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446 THE GRASPING HAND Phillips, C.G
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448 THE GRASPING HAND Rumelhart, D.
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450 THE GRASPING HAND disconnection
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452 THE GRASPING HAND Weir, P.L. (1
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456 THE GRASPING HAND Childress, D.
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458 THE GRASPING HAND Johansson, R.
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460 THE GRASPING HAND Proteau, L.,
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464 THE GRASPING HAND level, of map
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466 THE GRASPING HAND a h Generaliz
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468 THE GRASPING HAND Forces. Force
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470 THE GRASPING HAND han& Robotics
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472 THE GRASPING HAND and force coo
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474 THE GRASPING HAND and task requ
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476 THE GRASPING HAND Pen, as grasp
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478 THE GRASPING HAND Screwdriver,
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480 THE GRASPING HAND and oppositio
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482 THE GRASPING HAND and grasping,
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Chapter 2. Prehension

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