Chapter 2. Prehension

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Chapter 7 - Opposition Space Phases 285 In Chapters 3-6, we considered phases that seem to be distinct in prehension. Planning, reaching, grasping, manipulating, and releasing the object all entail different activities. A conceptual model is presented in Figure 7.1 as a plan for effecting a prehensile movement. Such a task plan ties together the serialization of multiple sub-tasks, such as transporting the hand to the correct location and orientation and shaping the hand into a posture suitable for the object and task. Across the toD shows a rather high level descrimion of the task ~lan for prehension, unfolded over -time. The taik plan include; the following phases: 1. Planning an Opposition Space, 2. Setting Up an Opposition Space, 3. Using an Opposition Space, and 4. Releasing an Opposition Space. Within each phase, computational processes and subphases occur, as detailed below. In evaluating prehensile behavior, experimenters have adopted one of two main paradigms: focusing on the movement prior to contact (paradigms discussed in Chapter 5), or focusing on the forces applied during contact (paradigms discussed in Chapter 6). In Chapter 5, detailed examination of the limb kinematics, spatial paths, and hand configuration revealed organization and control while setting up an opposition. In Chapter 6, detailed analyses of forces, EMG, sensorimotor features and analytic measures revealed control while using an opposition space. For lifting an object, Figure 7.2 shows an integrated, synchronized view of the kinematics and grasping forces from movement onset through acquisition into stable grasp, lifting, replacing and releasing an object. Shown is a single trial in which a human subject reached for a 155 g dowel (3.8 cm diameter, 11.5 cm long) placed 20 cm in front of the midline sagittal starting point, grasped it with pad opposition between thumb and index finger pads, lifted it to match the height of a 4 cm block, replaced it on the contact plate and returned to the starting posture. The entire movement sequence had a duration of 2.4 s. Free motion occurs from movement onset to peak aperture between the thumb and index finger. Guarded motion occurs as the fingers enclose, anticipating contact with the object. Compliant motion occurs from object contact until the object is let-go. There is another period of compliant motion as the object is replaced on the table until release. After letting go of the object, the hand is in free motion. We now consider what is happening during these phases in an Opposition Space analysis of prehension.
286 THE PHASES OF PREHENSION Figure 7.2 Synchronized force and kinematic profiles for a subject Setting Up an Opposition Space and Using an Opposition Space. The task required the subject to reach and grasp a 3.8 cm diameter dowel, lift it 4 cm high, replace the dowel, and release it. A. Load force, B. Grip force, C. Aperture between thumb and index finger, D. Wrist velocity and E. Vertical dowel position. Lower case letters represent the times of: a. Hand lift, b. Dowel contact, c. Dowel lift, d. Dowel replace, and e. Let-go of the dowel. See text for details (Adapted from Weir, 1991, by permission).
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350 Appendices Anterior (ventral):
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354 A pp e n dices Table A.l Degree
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410 Appendices Sears et al., 1989).
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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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438 THE GRASPING HAND Kamakura, N.,
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448 THE GRASPING HAND Rumelhart, D.
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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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468 THE GRASPING HAND Forces. Force
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482 THE GRASPING HAND and grasping,
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Chapter 2. Prehension

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