Chapter 2. Prehension

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Appendix B - Taxonomies of Prehension 379 Table B 3 (continued) Postures consisting of combinations of oppositions. For each virtual finger, one or more real fingers or the palm are used. When fingers are not being used in one of these oppositions, they may be used as aVF3 alone or in tandem with the oppositions. P=palm, T=thumb, kindex finger, M=middle finger, R=ring figer, L=little finger (adapted from Iberall et al., 1988 and Iberall et al., 1991) ID Opposition 1 Opposition 2 VF3 OPP VF1 VF2 OPP VF1 VF2 (optional) Two opposition postures IV 35. PALM P 36. PALM P 37. PALM P 38. PALM P 39. PALM P 40. PALM P 41. PALM P 42. PALM P 43. PALM P 44. PALM P 45 PALM P V 46. PALM P 47. PALM P 48. PALM P 49. PALM P 50. PALM P VI 51. PAD T 52. PAD T 53. PAD T Three opposition postures W 54. PALM P R-L Virtual finger 3 only WI 55. 56. 57. 58. 59. I-M-R-L I-M-R M-R-L I-M M-R R-L I M R L R-L M-R-L R-L L M-R R-L I R-L I-M SIDE T SIDE T SIDE T SIDE T SIDE T SIDE T SIDE T SIDE T SIDE T SIDE T SIDE T PAD T PAD T PAD T PAD T PAD T SIDE T SIDE I SIDE T PAD T I I I I I I-M I I I-M I-M-R M I I-M M-R I M M M P-R-L L R-L L M-R-L R-L L I I L I R-L, radial P Opposition 3 OPP VF1 VF2 I SIDE T M VF3 P-T-I-M-R-L I-M-R-L I-M-R I-M
380 Appendices opposition, is Napier’s coal hammer grasp, while grasp 35 is the power grasp, consisting of two oppositions. Grasp 20 is the three- jaw chuck, while grasp 51 is the external precision grasp. Grasp 43, with the index finger as VF3 sticking out as an antenna, is the internal precision grasp. Grasp 33 is the adduction grip. Grasp 56 is the hook grasp, while grasp 55 is used when a waiter holds a big tray. Only contiguous mappings have been listed in these tables; other noncontiguous mappings could possibly occur, useful in some highly constrained situation.
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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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6 WHAT IS PREHENSION? continue in t
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8 WHAT IS PREHENSION? movement. Dom
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10 WHAT IS PREHENSION? Today, with
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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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24 WHAT IS PREHENSION? A. POWER GRA
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emphasis on Grasp emphasis on secur
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28 WHAT IS PREHENSION? (screwing on
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30 WHAT IS PREHENSION? suggested th
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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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54 THE PHASES OF PREHENSION recogni
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56 THE PHASES OF PREHENSION Executi
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58 THE PHASES OF PREHENSION untary
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60 THE PHASES OF PREHENSION isting
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64 THE PHASES OF PREHENSION ence, w
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66 THE PHASES OF PREHENSION being p
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68 (sticks up) THE PHASES OF PREHEN
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70 THE PHASES OF PREHENSION (right
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72 THE PHASES OF PREHENSION organiz
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74 THE PHASES OF PREHENSION movemen
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76 THE PHASES OF PREHENSION and bas
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78 THE PHASES OF PREHENSION Figure
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80 THE PHASES OF PREHENSION Again,
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82 THE PHASES OF PREHENSION c Oppos
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84 THE PHASES OF PREHENSION the mac
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86 THE PHASES OF PREHENSION (surfac
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88 THE PHASES OF PREHENSION influen
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90 THE PHASES OF PREHENSION able to
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92 THE PHASES OF PREHENSION A Pfing
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94 THE PHASES OF PREHENSION forces,
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- Computed activation of arm muscle
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98 THE PHASES OF PREHENSION were in
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102 THE PHASES OF PREHENSION same t
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104 THE PHASES OF PREHENSION OBJECT
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106 THE PHASES OF PREHENSION planni
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110 THE PHASES OF PREHENSION antici
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112 THE PHASES OF PREHENSION and te
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114 THE PHASES OF PREHENSION presen
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116 THE PHASES OF PREHENSION determ
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118 THE PHASES OF PREHENSION 5.3 Co
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120 THE PHASES OF PREHENSION tance
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122 THE PHASES OF PREHENSION where
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126 THE PHASES OF PREHENSION A B 18
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128 THE PHASES OF PREHENSION where
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130 THE PHASES OF PREHENSION SR = .
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132 THE PHASES OF PREHENSION MODEL
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134 THE PHASES OF PREHENSION A B Fi
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136 THE PHASES OF PREHENSION to mus
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138 THE PHASES OF PREHENSION method
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140 THE PHASES OF PREHENSION tire b
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142 THE PHASES OF PREHENSION torque
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144 THE PHASES OF PREHENSION relate
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146 THE PHASES OF PREHENSION the ob
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148 THE PHASES OF PREHENSION abilit
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150 THE PHASES OF PREHENSION +60 1
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152 THE PHASES OF PREHENSION result
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154 THE PHASES OF PREHENSION the di
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156 THE PHASES OF PREHENSION crease
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158 THE PHASES OF PREHENSION betwee
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160 50 1 THE PHASES OF PREHENSION 1
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162 THE PHASES OF PREHENSION positi
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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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172 THE PHASES OF PREHENSION T 150
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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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186 THE PHASES OF PREHENSION _ - B
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188 THE PHASES OF PREHENSION A +6 1
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190 THE PHASES OF PREHENSION activa
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192 THE PHASES OF PREHENSION shape,
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194 THE PHASES OF PREHENSION the st
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196 THE PHASES OF PREHENSION collap
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198 THE PHASES OF PREHENSION Obi& T
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200 THE PHASES OF PREHENSION might
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204 THE PHASES OF PREHENSION about
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206 THE PHASES OF PREHENSION hands
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208 THE PHASES OF PREHENSION Epider
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210 THE PHASES OF PREHENSION the pe
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212 THE PHASES OF PREHENSION FtiYsT
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214 THE PHASES OF PREHENSION focusi
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216 THE PHASES OF PREHENSION thermo
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218 THE PHASES OF PREHENSION nonner
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220 THE PHASES OF PREHENSION hot-wa
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222 THE PHASES OF PREHENSION which,
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224 THE PHASES OF PREHENSION which
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226 THE PHASES OF PREHENSION for FA
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228 THE PHASES OF PREHENSION differ
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230 THE PHASES OF PREHENSION (see C
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232 THE PHASES OF PREHENSION LATERA
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234 THE PHASES OF PREHENSION more a
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236 THE PHASES OF PREHENSION A Poin
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240 THE PHASES OF PREHENSION 6.3.2
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242 THE PHASES OF PREHENSION equati
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244 THE PHASES OF PREHENSION necess
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246 THE PHASES OF PREHENSION graspi
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248 A THE PHASES OF PREHENSION Figu
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250 z J 2 0 c .- Q el X A THE PHASE
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252 THE PHASES OF PREHENSION respec
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254 THE PHASES OF PREHENSION Z 151
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256 THE PHASES OF PREHENSION mechan
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258 THE PHASES OF PREHENSION see He
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260 THE PHASES OF PREHENSION might
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262 THE PHASES OF PREHENSION long a
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264 THE PHASES OF PREHENSION with u
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266 THE PHASES OF PREHENSION Table
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268 THE PHASES OF PREHENSION system
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270 THE PHASES OF PREHENSION In cla
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Table 6.6 Elliott & Connolly (1984)
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274 THE PHASES OF PREHENSION shape
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276 THE PHASES OF PREHENSION In imp
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278 THE PHASES OF PREHENSION cause
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aie3 INTRINSIC - mughnesn aspect of
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284 THE PHASES OF PREHENSION percei
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288 THE PHASES OF PREHENSION approa
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290 5. 6. 7. 8. 9. 10. 11. 12. 13.
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292 THE PHASES OF PREHENSION Fitts
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294 THE PHASES OF PREHENSION accele
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296 THE PHASES OF PREHENSION 27. Ce
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298 THE PHASES OF PREHENSION charac
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300 THE PHASES OF PREHENSION are se
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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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Page 349 and 350: 330 CONSTRAINTS AND PHASES 9.1 The
Page 351 and 352: 332 CONSTRAINTS AND PHASES b) impar
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Page 361 and 362: 342 CONSTRAINTS AND PHASES 9.3 Futu
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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 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: 378 Appendices Table B.3 Postures c
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 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
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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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