Chapter 2. Prehension

and grasping, 330-31
visual perception of, 79-80
Eyes. g Vision
F
FAI fibers, 224,225f, 253,255t. 258
FAII fibers, 224,2255 253,254,253,256.
258
Fat pads, of skin, 210
Feedback
controller, 11 1.200
and deceleration phase of movement, 148
and evolving mampulation, 226
feedforward/feedback error control
(equation), 140
during grasping, 201
hierarchical feedback-error learning
control model, 139f, 139-41
and movement corrections, 57
in neural network, 388-89
and phases of prehension, 60
and precision effect, 154
Feedfonvard
controller, 11 1,200
feedforward/feedback error control
(equation), 140
in neural network, 387-88
Finger Position constraint, of viltual
fingers, 41
Finger touch grasp, 204 371t, 372f. 375,376
Finger Width constraint, of virtual fingers,
A1 ..
Fingerprints. see alsQ Fingers
characteristics, 205-6
and grasp, 206
Fingers. Fingerprints; Index finger;
Middle finger; Thumb; Virtual fingers
collective
movement control by brain, 175
and object size, 169-73, 17Of. 172f
degrees of freedom, 358t
exploratory movements of. 268
and force H lication, 235:39,240-47,
263.28
independent movement of, 174
index, as antenna, 30, 336,380
joint trajectories, 131-34
joints, 363t
muscles, 363t
and neural networks, 91
number required to restrain motion under
conditions of friction, 244,245f
pad cmpliance with object surface, 210
and pad opposition, 17Of. 170-71,171.
271,374
and palm opposition, 17 1,27 1
in power grasp, 23, 24f
and prehensile classifications, 27
and stable grasp, 242-47
(Letters after page numbei
Subject Index 467
structural constraints on grasping, 3 12
Fitting task, deceleration phase of, 146,
147f
Fitts' Law. see als~ Asymmetric velocity
profiles; Precision requirements
and deceleration time, 127, 318
definition, 129-30
definition (equation), 123-24
and motor control, 292
and timing of movement, 338
and two-phase controller for complex
movements, 199
and velocity profiles, 123,125,14.6,
317-18
Fixed contacts, 269,272,273
Flat grasp, 2Ot, 37&, 372f
Flat objects, and pad ition, 261
Flexion (movement),%
Flexion grasp, 19t, 37Ot
Flexure lines, of palmar skin, 206
Fluid lubrication, 216,219
Force application. see alsQ Grasping; Grip
force
anticipated, 82f, 318-19
and cone of friction, 244f
of different grasps, 262-64,308-9
direction of, 263,264,275
force coordination during lifting, 25Of
and functional constraints, 338-39
and handle shape, 263
for lifting, 234,235f. Zlf, 252-58
magnitude of, 243-44
measurement of, 262-67,263t
and motion, 11 1
normal, 244f
and object properties, 200
and object size, 263
and object texture, 249
and object weight, 247,249
and pad opposition, 239,247-52
and palm opposition, 239
in perturbation studies, 157-58
phases, 252-58
regulation of, 273
in robotics, 2354,264-65.266f. 273-78
and side opposition, 239
and stable grasp, 242-47
and sweating, 216,217f
synchronized to kinematic profiles, 286f
tangential, 244f
testing apparatus, 248-49f
and transport of gras object, 268-69
and twist system, 23 9" f, 237
using position space, 297f
verticTload force, 258-60
and virtual fingers, 39-42
and wrench system, 236f. 237
Force closure, 264,265,268t. 332
Force Magnitude constraint, 41,239
Force Orientation constraint, 41,239
n: f=figure; n=footnote; t-table.)