Chapter 2. Prehension

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Chapter 2 - Prehension 25 uses of the hand. Ultimately, he was able to sense that even though tasks are complicated and full of variety, there are two fundamental qualities to tasks--their precision and power requirements--and he was able to recognize that the human hand could match these. In the robotics literature, Cutkosky and colleagues (Cutkosky, 1989; Cutkosky and Howe, 1990; Cutkosky and Wright, 1986b) extended the Napier precisiordpower dichotomy by further classifying power grasping into nine subordinate types and precision grasping into seven subordinate types using a set of grasp attributes (see Figure 2.3). In power grasps, the emphasis is on stability, a grasp attribute defined as the ability to resist external forces without slipping and re- turn to nominal position, and security, or the ability to resist slipping. In precision grasps, the emphasis is on dexterity, which is defined as how accurately fingers can impart larger motions or forces, and sensi- tivity, or how accurately fingers can sense small changes in force and position. In addition to grasp attributes, Cutkosky and Howe use object characteristics to refine postures in a style similar to, but more precise than, Schlesinger. Prismatic grasps are wrap postures (i.e., cylindrical grasps) that enclose a tool with a long symmetry. A circular posture, on the other hand, is used for objects with radial symmetry (i.e., spherical grasp). 2.2.3 Precision handling and dynamic grasps Identifying postures is useful for describing a static view of a hand posture. However, many grips6 are associated with actions. Landsmeer (1962) extended Napier’s dichotomy, rethinking the precision grip as precision handling, thus highlighting the dynamic aspect of the movements during fine translations, rotations and complex ma- nipulations. Power grips immobilize the object so that there is a definite static phase once the object has been grasped, whereas precision handling does not have a definite static phase. Rather, Landsmeer suggested that grasping the object in opposition between the thumb and finger pads enables greater variety of movements, because the fingers can impart those movements. Kapandji (1982, p. 272) called these dvnamic nips since ‘the hand can act while grasping’, and gave numerous examples, such as top turning, lighting cigarettes, pushing 6We note that others have made a distinction between the words ‘grip’ and ‘grasp’; for example, Malek (1981) suggested a grip is a static posture and a grasp is the dynamic unfoldmg of a posture. Here, for simplicity, the two words are used interchangeably.
emphasis on Grasp emphasis on securitx stabirity 1 dexferifx sensifiify I 1 Pokr clamping not clamping required I required Non-Prkhensile (me virtual finger) I ?-- Hook, Platform, Push 16 Increasing Power, and Object Size I Prehensile fhin (two virtual /OF I cornpa; Lateral pinch 16 Prismatic Circular wrap symmetry, (radial symmetry. 1. ingers surrwnd fingers surrwnd Dart) Dart) @ @ Disk Sohere I 10 '11 I 1 I I Heavy I wrap I 1 Medium Adducted Llaht- I wrap thumb tckl 4 5 Large Small diameter diameter 1 2 I SpecificGrasps I ifalic labels .grasp atfribufes boldface labeis -grasp names I Precision I cornpacf Circular +l n (opposed Prismatic thumb, (radial symmetry. 3 virtual fingers) 2 virtual fingers) small Disk Sphere Tripod 12 13 14 Thumb4 Thumb4 Thumb2 finger finger finger 6 7 8 1 4e ThumMndex finger 9 Increasing Dexterity, Decreasing Object Size Figure 2.3 Cutkosky and Howe's classification. On the left are power grasps, and on the right, precision grasps. A posture is parameterized by task attributes (forces and motions) and object geometry (from Cutkosky and Howe, 1990; reprinted by permission). t4 OI
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354 A pp e n dices Table A.l Degree
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372 Appendices ...... ........... t
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410 Appendices Sears et al., 1989).
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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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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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