Chapter 2. Prehension

468 THE GRASPING HAND
Forces. Force application
Forearm
degrees of freedom, 354t
innervation, 368t
joints, 362t
movement descriptions, 357f
muscles, 362t
skeletal Structure, 352f
Form closure, 264,265,268t, 332
Forward kinematic problem, 117n
Foveal vision, 185
Foveation. see also Haptics; Vision
definition, 228
and motor control, 118
Free motion, 11 1,228,285,300
Frequency characteristics, of exploratory
movements, 267f, 268
Friction. see &Q Amonton's laws of friction
(equation); Coefficient of friction;
Cone of friction
and contact points, 235
and contact with object, 220
laws of, and skin, 21 1,212f. 309
and object texture, 249
and skin, 209-10.220,221f, 297f
and sweating, 219-20
Full roll grasp, 19t, 28,272t. 371t
Function strength, and grasp types, 263t
Function test, of object prcperties, 232f
Functional constraints, 15, 16-17,308t,
324-25,332
Functional Electrical Stimulation, 256
Functionality, and prehensile
classifications, 18
Funnels, 81,274-75
G
Ganghon, definition, 218
Generalized delta rule. Delta leaming
rule, of neural networks
Glabrous skin, 208-9,223f, 225f, 228,256,
373
Glass, as grasped object, 275f, 276
Goals
environmentally-defined, 17
motor, 17
and phases of prehension, 60-61
task, prehensile classification of,
22-25,24f
transforming into motor commands, 115-17,
116f
and transport component, 200
Golf ball. as grasped object, 237
Golgi-Mazzoni bodies, 224,225f, 226
*Good grasp, 274,297f
'Grab reflex', 57-58, 157,317
Gradient descent rule, definition, 391-92,
397
Grasp. see alsg Grasp component; Grasp
(Letters after page numbers:
strategy; Grasp types; Grasping
collective, 171
definition, 3,2511
and fingerprints, 206
and force applicatim, 308-9
'good, 274,297f
independent, 171
instructed, 173
isotropy, 264,265,268t
measurement of, 51,52f, 262-66.263t.
266t
natural, 173
in perturbation studies, 166-67
qualitative coding of, 37-38,38f
selection of, 167-74
stable, 203,242-47, 274,307-8
static, 268
Grasp component. & Aperture; Grasp;
Grasp strategy; Grasp types; Grasping
and accessibility constraints, 151-52
affected by object size, 142
and arm transport component, 149-50
and ballpark model, 189
coupling with transport component, 199
definition, 51
and enclosing, 145
and grasp aperture, 145, 146
kinematic features of prehensile
behaviors, 197
and object distance, 154, 162
and object location, 200
and object properties, 199
and object size, 152, 154, 167
and object texture, 156
and pad opposition, 145,169
and palm-focused model of grasping,
194-96
and palm opposition, 169
in perturbation studies, 159,163
and preshaping, 145
relatlon to transport component, 58-59,
290
and visual information, 178-79, 181-86
GRASP-Exp expert system, 83-85,93-94
Grasp postures. see Classification,
prehensile; Grasp t es
Grasp strategy. see als~%asp; Grasp
component; Grasp types; Grasping
chosen by expert system, 83-85
chosen by neural network, 85-90
defintion, 64,106
and planning sition space, 288
selecting, 83-90$0
Grasp PS, 19-2Ot, 166-74, 369-73,370-71t.
see also Grasp; Grasp component;
Grasp strategy; Grasping; Pad
oppositlon; Palm opposition; Side
awosition
addktion, 1%. 28f, 29,35,36,335,
37&, 372f
f=figure; n=footnote; t-table.)