Chapter 2. Prehension

Subject Index 479
Somatic motor system, and sweating, 221f,
297f
Somatosensory cortex
and hand representation, 192
organization of, 112
Somatosensory information
effects of disconnection with visual
information, 177
and grasp formation, 177
Somesthetic macula, 228
Span grasp, 2Ot, 3704 371t
Spatial density, and visual perception, 76
Spatial location, and pointing tasks, 119,
120
Spatial path
of arm movement, 128,129
in perturbation studies, 164f
of transport component, 145
Specialization, as limiting factor in hands
of other species, 24-25
Sphere, as grasped object, 89f
Spherical grasp, l8f. 1%. 2Ct. 21,25,35,
369,370t. 371t. 372f. 373
Spinal cord. Central nervous system (CNS)
Spinocerebellumhfagno Red Nucleus system,
and
control of voluntary movement, 141
Splinters, removing, as dynamic hand
movement, 272t
Split brain studies, effect on independent
finger movements, 174
Split hook (prosthetic hand), 405-9
Squeeze, 19t, 27,271,272t, 371t
Stability, as grasp attribute, 25,265,268t.
see &Q Stable grasp
Stable grasp, 242-47. See als~ Stability, as
Suede, as grasped object, 247,249,250f
Suitcase, as grasped object, 21.29.35
Supervised leaming, of neural networks. 86,
97,399
Supination (movement), 357f. 358
Surface, of object
and contact, 261-62
perception of, 231,233t
Sweat
composition of, 216-17
glands, and stable grasp, 204
ridges, 209
Sweating. see ~ S Eccrine Q sweat glands
boundary lubrication, 216
causes, 216
and force application, 216,217f
and friction, 219-20
and ‘god grasp, 297f
and grasping, 218-219.220
innervatmn of, 218
local, 219
mental, 216
neural control of, 218
and release of acetylcholine, 218
and shearing velocities, 220
tactile contact as trigger, 219
thermal, 216
thermoregulatory, 215-1 6
Symmetric velocity profiles, 123,127,145
Sympathetic gangha, and sweating, 218
Synapse, definition, 384n
Synergy
definition, 114n
reciprocal, 27
simple, 27
grasp attribute
characterization of, 242-47,274
maintenance of, 203
and muscles, 204
and object properties, 204,281
requirements for, 307-8
and sensory information, 279
and skin characteristics, 205,279
State variables
of opposition space, 39
of oppositions, 39
of virtual fingers, 39,41
Static contact, and perce
temperature, 23 1,2gT2%
Static grasp, 268
Static phase, of lifting, 25,251f. 252
Statics, definition, 1011
Stiffness. of skin, and load, 210
Strength; and grasp types, 263t
Structural propernes of objects, perception
of,231,233t
Sudomotor system
definition, 204n
and stable grasp, 204
T
Tactile contact, as trigger for sweating, 219
Tactile foveation, 1 18
Tactile inputs, and hand movement, 175,176f
Target surface, and deceleration, 127
Task mechanics
and cone of friction, 275f
in humans, 274-75
and planning of prehension, 80-81
research, 64
Task plans. yee ~ S Planning Q of prehension;
Trajectory planning
definition, 65,105
distributed recessing, 67-70,68f
neural, 70-76,71f, 73f, 74f, 105
in robotics, 65-67,66f, 105,333
Task requirements
and grasping, 331-33
influence on loading or unloading
pemrbalions, 260
and kmematics, 146-56
and movement type, 281
and object properties, 146-56
(Letters after page numbers: f=figure; n=footnote; t-table.)