Chapter 2. Prehension

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Chapter 2 - Prehension 45 mation (due to the large number of mechanoreceptors in the finger pads and interphalangeal joints). Although it reduces the number of fingers available for applying forces, the extended finger in itself can apply a limited force, provide direction and impart some motion as necessary for a VF3. Importantly, it can be used in combined grasps, as seen in extending the index finger on a screwdriver or knife, or placing the thumb on the side of a beer mug. The key to understanding the versatility of the human hand is not so much that it can create any one of these postures, but that it can also do these in combinationsll. While using the dynamic capability and sensitivity of the three radial digits in pad or pad and side opposition, the other two fingers can still oppose the palm, grasping an object in palm opposition. The surgical techniques described by Patkin are some examples of this ability of the human hand to hold (and even manipulate) more than one object at a time. An antenna can be formed by the extended index finger or adducted thumb that acts both as a re- ceiver of sensory information and a transmitter of forces as needed. At the same time, the other digits can create the stable grasp, as seen in Figure 2.2 and Figure 2.4. Examples of functional combinations were seen: in grasping a mug where side opposition combines with VF3; in the internal precision grip where palm opposition combines with side opposition and a VF3 as antenna; and a double grip, where side opposition occurs between the index and middle fingers and pad opposition is used by the other digits. Napier’s power grasp, in fact, combines palm opposition with side opposition. An example of using these multiple functional features to hold more than one object at a time was seen in grasping chopsticks. Ultimately, the versatility of the human hand stems from what Napier pointed out in 1956, that precision and power are not mutually exclusive. The human hand (and brain!) can resolve these multiple task components and in doing so, find a set of oppositional forces that are functionally effective for satis- fying the competing task requirements for arbitrary objects. And this is true whether the task is to hold one or even 10 oddly-shaped objects at a time, and whether the task is to do either one or many things with them! For Napier, the terms power and precision grips were intended to be used to describe the whole hand in the dynamic as well as the static sense, just as the terms flexion and extension can describe movement or the static posture about a joint. However, he suggested that, “it is llIn Appendix B, a table listing most of the possible combinations of oppositions and virtual finger mappings can be found.
46 WHAT IS PREHENSION? impossible to treat these phases biometrically” (Napier 1956, p. 913). With the technology of the 1990s, it is both possible and desirable to capture biometrically the dynamic versatility of the human hand, through phases of prehensile movement. The next section addresses these issues.
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306 CONSTRAINTS AND PHASES Table 8.
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350 Appendices Anterior (ventral):
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352 Appendices =!- / Scapula Acromi
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354 A pp e n dices Table A.l Degree
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370 Appendices Table B.l Prehensile
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372 Appendices ...... ........... t
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410 Appendices Sears et al., 1989).
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420 A pp e n dices D.3.3 Belgrade/U
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424 THE GRASPING HAND Arbib, M.A. (
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426 THE GRASPING HAND Bullock, D.,
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428 THE GRASPING HAND Cutkosky, M.R
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430 THE GRASPING HAND Focillon, H.
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432 THE GRASPING HAND Gordon, A.M.,
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434 THE GRASPING HAND Hollerbach, J
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436 THE GRASPING HAND Jeannerod, M.
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438 THE GRASPING HAND Kamakura, N.,
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440 THE GRASPING HAND Landsmeer, J.
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442 THE GRASPING HAND MacKenzie, C.
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444 THE GRASPING HAND Moore, D.F. (
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446 THE GRASPING HAND Phillips, C.G
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448 THE GRASPING HAND Rumelhart, D.
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450 THE GRASPING HAND disconnection
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452 THE GRASPING HAND Weir, P.L. (1
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456 THE GRASPING HAND Childress, D.
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458 THE GRASPING HAND Johansson, R.
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460 THE GRASPING HAND Proteau, L.,
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464 THE GRASPING HAND level, of map
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466 THE GRASPING HAND a h Generaliz
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468 THE GRASPING HAND Forces. Force
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470 THE GRASPING HAND han& Robotics
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472 THE GRASPING HAND and force coo
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474 THE GRASPING HAND and task requ
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476 THE GRASPING HAND Pen, as grasp
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478 THE GRASPING HAND Screwdriver,
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480 THE GRASPING HAND and oppositio
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482 THE GRASPING HAND and grasping,
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Chapter 2. Prehension

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