Chapter 2. Prehension

and hand movements, 175, 176f
and preshaping of hand, 185-86, 186f
Proprioceptors. Mechanoreceptors
Prosthetic hand
and computational nervous system, 327
control, 402-5
and grasping, 150
history, 401-2
objectives, 403
and releasing, 278-79
types
body-powered, 403-4
commercially available, 404- 14
mechanical, 409- 10
myoelectric, 404-5,410-12
research hands, 414-17.413
specialized, 412-14.413t
Split hook, 405-9,408-9t
and understanding prehension, 402-3
Protraction (movement), 358
Proximal joint receptors, 226
Proximal muscles
activation by extrinsic object
properties, 53
and reaching, 174
Pulp pinch, 19t, 204 262,263t. 37Ot, 371t
Pyramidal tract neurons, and pad opposition,
174
Q
Quadraplegia, and use of tactile information
for neurally interfaced control
system, 256
Quality measures, of grasp
in humans, 265,268t
in robotics, 264-65,268t
R
Radial deviation (movement), 3571 358
Radial roll grasp, 19t, 28.270-7 1,272t,
371t
Rapid pmching tasks, 153f. 153-54
Reaching. See also Transport component
coordination with grasping, 141-46
and proximal muscles, 174
and setup of opposition space, 142
velocity profile of, 148
visual direction of, by brain, 175
Reaction time
and object size in pemrbation studies,
167
between signal and movement, 70,71, 105
Reciprocal synergies, 27-28
Recurrent neural networks, 388-89
Red nucleus
and control of voluntary movement, 141
and hand movement, 176f
Regrasping, 269,271,272t, 277f
Releasmg
Subject Index 477
object, 278-79
opposition space, 299,300
Removing pen cap, 272t
Replacement phase, of lifting, 251f. 252
Repositioning, 269
Resistance to slipping, 265-&,268t
Reticulin, 207
Retinal map, of neural networks, 97
Retraction (movement), 358
Robotics
and computational nervous system, 323,
327
conferences, vi
hands
analytic measures of grasp postures,
26465,268t
BelgradeLJSC, 402,420-21
controlling local object motions, 274
and force a lication, 235-40,
264-6PMf. 273-78273
manipulation of objects, 273-78
mapphg opposition space, 3 19-24,
32Of
StanfordJPL, 402,418-19
Utah/MIT, 402,419
and object location, 95
prehensile classifications, 25
task plans, 65-67.66f
view of prehension, 306-7
and wrench system equation, 239
Rock (movement), 19t, 27-28,270,271,272t,
371t
Rods, as grasped objects, 229
Rolling contacts, 269,272t. 273
Rolling paper, 272t
Rotary step grasp. 19t, 28,272t, 371t
Rotating small mirror, as dynamic hand
movement, 272t
Rotation (movement), 358
Rotation, of object, and cone of friction,
276-78
Rubber bulb or syringe, as grasped object, 27
Ruffini co uscles, 223f, 224,225f, 226,
227f.353
S
Sagittal plane, 49.51,349,35Of
SAI fibers
characteristics, 224,225f
and sensory information during lifting,
25’3,253
and slip responses, 258
SAII fibers
characteristics, 224,225f
and lack of slip responses, 258
and sensory information during lifting,
253,253
Sandpaper, as grasped object, 247,249,250f
Scissor grasp, 29
Scissors, as grasped object, 375
(Letters after page numbers: f=figure; n=footnote, t-table.)