Chapter 2. Prehension

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Chapter 2 - Prehension 19 Table 2.1 Prehensile classifications developed in anthropology, medicine, biomechanics, robotics, and occupational (continued ...) therapy. Researchers Posture names Cooney and grasp tip pinch Chao (1977) palmarpinch lateral pinch Cutkosky largediameterheavywrap 4 finger precision grasp (1989) small diameter heavy wrap 3 finger precision grasp medium wrap 2 finger precision grasp adducted thumb wrap disk precision grasp light tool wrap disk power grasp spherical precision grasp tripod precision grasp spherical power grasp 5 finger precision grasp lateral pinch hook, platform, push Elliott and palmargrip rock Connolly (1984) dynamic tripod pinch sqradial roll index roll full roll twiddle interdigital step rotary step linear step palmar slide Griffiths (1943) cylinder grip ball grip Iberall et al. palm opposition side opposition (1986) pad opposition Jacobson and coding system for fingers, finger positions, finger joint Sperling positions, contact surfaces, and orientation of object’s (1976) longitudinal axis with respect to the hand Kamakura power gripstandard parallel extension grip et al. (1980) power grip-index extension power grimstal tripod grip tripdgrip-var. 1 power grip-extension parallel mild flexion grip tripod grip-var. 2 lateral grip tip prehension power grip-hook surrounding mild flexion grip adduction grip Kapandji cylindrical palmar tetradigital-pulp 8z side (1982) spherical palmar tetradigital pulp to side digito-palmar tetradigital by pulp subterminal pollici-digital terminal pollici-digital pentadigital-pulp & side panoramic pentadigital subtermino-lateral pollici-digrtal pentadigrtal cleft interdigital latero-lateral directionalgrip . tridlgital grips gravity -dependent grips
20 WHAT IS PREHENSION? Table 2.1 Prehensile classifications (continued). Researchers Posture names Kroemer disk grip lateral grip (1986) collect enclosure precision or writing grip Power grasp hook grip pinch or pliers grip finger touch tip grip palm touch Landsmeer (1942) power grasp precision handling Lister span chuck grip (1977) Power grasp key pinch precision pinch hook grip pulp pinch flat hand Liu and Bekey powergrasp pulp pinch (1986) cylindrical grip chuck grip span lateral pinch precision pinch hook grip Lyons encompass grasp lateral grasp (1985) precision grasp McBride whole hand grasping thumb, finger grasping (1942) palm, digits grasping Napier (1956) power grip precision grip combined grip hook grip Patkin power grip pinch grip (198 1) external precision grip internal precision grip double grip (ulnar storage) Schlesinger openfistedcylindrical grasp cylindrical w/ add. thumb (1919) close fisted cylindrical grasp spherical prehension flat/thin (2 finger) pincer large (5 fingered) pincer palmar prehension (pincer) three-jaw chuck tip prehension lateral prehension hook prehension nippers prehension Skerik power grip tip pinch et al. (1971) two point palmar pinch link grip (lateral pinch) three point palmar pinch hook grip Slocum and grasp hook Pratt (1946) pinch Sollerman diagonal volar grip mpod pinch (1980) transverse volar grip five-fingered pinch spherical volar grip lateral pinch pulp pinch extension grip Taylor palmar prehension (3 jaw chuck) lateral prehension (1948) tip prehension
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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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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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Table 6.6 Elliott & Connolly (1984)
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aie3 INTRINSIC - mughnesn aspect of
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306 CONSTRAINTS AND PHASES Table 8.
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308 CONSTRAINTS AND PHASES the inde
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310 CONSTRAINTS AND PHASES While th
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312 CONSTRAINTS AND PHASES for a gi
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314 CONSTRAINTS AND PHASES fine, su
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316 CONSTRAINTS AND PHASES level fi
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318 CONSTRAINTS AND PHASES spent in
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z I l l I 0 Y "K ' ,------ Sensorim
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322 CONSTRAINTS AND PHASES componen
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324 CONSTRAINTS AND PHASES and the
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326 CONSTRAINTS AND PHASES 8.6 Summ
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330 CONSTRAINTS AND PHASES 9.1 The
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332 CONSTRAINTS AND PHASES b) impar
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334 CONSTRAINTS AND PHASES The defi
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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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