Chapter 2. Prehension

Ulnar nerve, sensory fibers in, 226
Ulnar storage grasp, 35n
Unloading phase, of lifting, 251f, 252,253
Unrestrained movement, 191
Upper limb
degrees of freedom, 354t
innervation, 359,366-67t
joint movement and degrees of freedom,
351
muscles, 359
segmental dermatome ma ing, 365f
skeletal structure, 351,3&
Use phase, of neural networks, 95
V
Variability, of movement, 69
Vector Integration to Endpoint model (VITE),
127-128,129f, 13Of, 189,200
Velocity, of object, and grasping, 148, 149f
Velocity profiles
of distance movement, 13Of
Of grasping, 49-51,5Of, 52f. 146-47
peak
and movement distance, 145
in pemrbations of object direction,
161
during trans rt c~ll ent, 146,148
of pointing, 12r125.1r
of reaching, 148
Subject Index 481
and neural networks, 91,98,99f, 101
and opposition, 34f
and pad opposition, 34f. 35, 171, 172,
173,373,378-79t
in palm-focused model of grasping, 197f
and palm opposition, 34f. 35,172,
378-79t
and rotation of object, 276
and side opposition, 34f, 35
and task mechanics of grasping a glass,
275f
VF3. see als~ Virtual fingers
in combined grasp, 36,378-79
definition, 376
and force application, 336
grasp, 35.44-45
and mug, grasping, 33f
Virtual finger 1. VFl
Virtual finger 2. VF2
Virtual finger 3. VM
Virtual fingers
and ballpark model, 1%
classification, 31-35.34f. 38-42,372f
constraints, 41
definition, 3 1,335
and expert systems, 93-94
and force application, 4041,239
grasping surface patch, 39-40
as internal forces, 239
research, 123-31, 124f
in lifting, 235f
symmetric vs asymmetric, 123-31
mapping, 90-94.288-89
of transport component, 145
and neural networks, 90-93,92f, 98,99f
and visual control of movements, 144
and pad opposition, 39-40,41
of wrist, 129
and palm opposition, 40
Vertical load force, 258-60. see also Force
and power grasp, 36
application
Schemas for setting up opposition space,
Vertical position, of object during lifting,
188
25Of. 251f. 257f
ition. 40.41
VFl . See &Q Virtual fingers
and state side varia Of? les, 39.41.319.321
as applying a force, 33
Virtual work, 242
and approach vector, 151
Viscoelasticity, of skin, 210-14213
in combined grasps, 36
Vision
and expert systems, 94
effects of disconnection with
and mug, grasping, 33f
somatosensory information, 177
and neural networks, 91.98, Wf, 101
and grasping, 331
and opposition, 34f
inputs guiding hand movements, 175-77,
and pad opposition. 34f, 35, 171,373
176f
in alm focused model of gas ing, 197f
and intrinsic object properties, 53,
ani'pai opposition, 34f, 35,3!3,
76-79
378-79t
and object location, 95
and rotation of object, 276
parallel visual channels, during reaching
and side opposition, 34f, 35
and grasping, 54,55f
and task mechanics of grasping a glass,
and perception of object properties,
275f
233f. 234
VF~. see ilso virtual fingers
and phases of prehension, 60
,and a r c h vector, 15 1
and transport component. 53-57,54f, 55f,
IIY com ed grasp, 36
56f
and expert systems, 94
and weight of grasped object, 155
and mug, grasping, 33f
Visual information
central, 178,179,181-84,182f
(Letters after page numbers: f=figure; n=footnote; t-table.)