Chapter 2. Prehension

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<strong>Chapter</strong> 6 - During Contact 279 indeterminate sense of their position and loading. Given Johansson & Westling's reports on the role of FA11 afferents signalling contact with the table at release, this is likely so. The dowel was unstable and could easily be knocked over. Thus, the individual opened the hand wider on release, relying more on visual guidance in withdrawing the prosthetic hand than the natural hand. 6.8 Summary of Using an Opposition Space We defined prehension as the application of functionally effective forces to an object for a task, given numerous constraints. Figure 6.25 shows the sensorimotor features of the hand considered in this chapter, along with relevant task and object properties for establishing and maintaining stable grasp, and moving between points of stability in manipulation. A distinction was made between active touch and active manipulation; sensory information is gathered for both. Both the process and the product of force generation were examined during compliant motion phases, noting how the system responds to various task demands and levels of perturbations, from microslips to external interference. The hand was considered as both an input and an output device. We discussed how the hand gathers sensory information about the object, the state of interaction with the object for a task, or the task outcomes, through proprioceptors (skin, muscle and joint receptors) and exteroceptors (skin receptors and vision). In this regard, skin is a critical organ providing housing for muscles, mechanoreceptors and eccrine sweat glands, essential for establishing stable grasp. Palmar creases, or flexure lines, reflect axes of movement. Some characteristics of skin relevant to force generation and adhesion include: characteristics of epidermis, dermis and their interface; papillary ridges; eccrine glands; sensory receptors; and their innervation. Papillary ridges extend over grasping surfaces that comply with the environment, as evidenced by human hands, gorilla knuckle pads and prehensile monkey tails. They act like ridges on automobile tires, to increase grip and facilitate weight bearing by increasing surface area. The concentric arrangement of the ridges makes some asperities always perpendicular to shearing forces. Moberg (1962) noted that a patient with impaired sensibility in the median nerve region has difficulties with manipulations using pad opposition, like buttoning and unbuttoning; in contrast, patients with impaired eccrine functions (dry or very wet hands) more often have difficulties with tools using palm opposition - the subsequent loss of
aie3 INTRINSIC - mughnesn aspect of texhue -hardness -temperahue -cone of friction -weight - volume or size -exact shape -emterofmaml -moments of inertia GLABROUS SKIN - papillary ridges -compliance capabilites -shearing force resistance - dermis/epidermis intedace -fat pads -response to loads - elastiaty - vimelastic pmperties -response tu friction ECCRlNE GLANDS - spacing -density -periodicity -discharge characteristim -composition - effmnt pathways - effect on coefficient of friction THE PHASES OF PREHENSION KINEMATICS AND KINETICS - spatial path -musdefOm -joint *urn -joint angles - glip foroe - load force mk GATHER SENSORY INFORMATION - pmprioqtion - limb position - joint -tom dynamic mechanial changes in joint angles - mudce spindle: praption of direaion ACTIVETOUCH (EXPLORATORY MOVEMENTS) -wielding -jiggling -holding - latenl motion - P- -contact -enclosing - mnbur following ACTIVE MANIPULATION ORMATORY MOVEMENTS) -ding -*g - Sliilng -stepping -twiddling - cyding CUTANEOUS MECHANORECEITORS -morphology -location - densitiea - affurnt terminal organization - mazptive field size -receptor innveration density - adaptation charactuistics PROPRIOCEITORS -morphology - loution (muslces, joinla, tendons) -numbem -densities -response charactedstim MUSCLES -mechanical properties - inseations and origins -no. joints d JOINTS -dcgmsof fxeedom -coupling Figure 6.25. Black box revisited during contact, while using an opposition space.
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ADVANCES IN PSYCHOLOGY 104 Editors:
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NORTH-HOLLAND ELSEVIER SCIENCE B.V.
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vi THE GRASPING HAND including comp
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viii THE GRASPING HAND Finally, all
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X THE GRASPING HAND 4.2 Task Plans
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xii THE GRASPING HAND Part I11 CONS
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xiv Figure 1.1 Figure 1.2 Figure 1.
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XVi THE GRASPING HAND Figure 6.12 F
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4 WHAT IS PREHENSION? The hand itse
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12 WHAT IS PREHENSION? prehensile b
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16 WHAT IS PREHENSION? (1988) refer
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18 WHAT IS PREHENSION? in Table 2.1
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20 WHAT IS PREHENSION? Table 2.1 Pr
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22 WHAT IS PREHENSION? Schlesinger
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emphasis on Grasp emphasis on secur
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28 WHAT IS PREHENSION? (screwing on
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Figure 2.5 Prehensile postures cons
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Figure 2.7 Oppositions can be descr
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36 WHAT IS PREHENSION? Many posture
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38 WHAT IS PREHENSION? and unwieldy
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40 WHAT IS PREHENSION? d Figure 2.9
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42 WHAT IS PREHENSION? quired oppos
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44 WHAT IS PREHENSION? sion; i.e.,
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46 WHAT IS PREHENSION? impossible t
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50 THE PHASES OF PREHENSION V cm/s
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52 THE PHASES OF PREHENSION - 0 200
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- Computed activation of arm muscle
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104 THE PHASES OF PREHENSION OBJECT
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130 THE PHASES OF PREHENSION SR = .
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- Velocity - Acceleration s-L 1400
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166 THE PHASES OF PREHENSION vocal
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168 THE PHASES OF PREHENSION C z3Oo
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170 THE PHASES OF PREHENSION 150 T
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174 THE PHASES OF PREHENSION grasp
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176 AREA 7 (IPS) THE PHASES OF PREH
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178 THE PHASES OF PREHENSION books
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180 THE PHASES OF PREHENSION h .r?.
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182 THE PHASES OF PREHENSION A B C
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184 THE PHASES OF PREHENSION (1982b
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Page 325 and 326: 306 CONSTRAINTS AND PHASES Table 8.
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332 CONSTRAINTS AND PHASES b) impar
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336 CONSTRAINTS AND PHASES less pre
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338 CONSTRAINTS AND PHASES transpor
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Opposition Space level Sensorimotor
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342 CONSTRAINTS AND PHASES 9.3 Futu
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344 CONSTRAINTS AND PHASES scientif
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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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380 Appendices opposition, is Napie
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382 A pp e n dic e s relationships
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384 A pp e n dic e s C.2 Artificial
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386 A pp e n dic e s thresholding f
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388 A pp e n dices processing. This
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390 Appendices between two units in
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392 A pp e n dic e s where q is a s
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394 A pp e It d ic e s training set
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396 A pp e It dic e s units. Also,
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398 Appendices only sense is vision
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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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416 A pp e n dices between the thum
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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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