Chapter 2. Prehension

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Acknowledgements vii Many individuals have contributed to this work in many ways. Thanks to our teachers and mentors, both formal and informal. Graduate courses were offered at the University of Southern California and the University of Waterloo, based on earlier drafts of The Grasping Hand, and we had lively discussions with colleagues also at Simon Fraser University. We wish to thank our students, teachers and colleagues for enriching both the seminars and the book. Thanks to the following individuals for providing feedback on earlier queries or drafts of the manuscript: Fran Allard, Michael Arbib, Denise Beattie, George Bekey, Reinoud Bootsma, Phil Bryden, Heather Carnahan, Sheril Desjardins-Denault, Marcus Devanandan, Virginia Diggles, Claude Dugas, Andy Fagg, Ken Goldberg, Evan Graham, Suzanne Halliday, Bruce Hoff, Marc Jeannerod, Linda Kalbfleisch, Susan Lederman, Gary Lindquist, Ron Marteniuk, Sean Maw, Chris McManus, John Medley, Ted Milner, Jacques Paillard, Shahram Payendah, Don Ranney, Eleanor Robbins, Marg Savage, Barb Sivak, S.T. Venkataraman, Patricia Weir, Richard Wells, Evelyn Yeo, and Ruth Zemke. For any oversights, we offer our apologies and thanks. Thank you to Nikos Apostolopoulos, Elizabeth Carefoot, and Kathleen Maraj for contributing artwork and graphics, and to Ron Long and Greg Ehlers for their photographic expertise. Special thanks to Evelyn Yeo, who, as a summer research student at Simon Fraser University, cheerfully and competently assisted in compiling references and figures, and provided model hands. All these individuals helped to add the aesthetic dimension we wanted. We wish to acknowledge the support and working environment of the Departments of Kinesiology and Computer Science at the University of Waterloo, where this work was initiated. With moves to the West Coast, we wish to acknowledge at Simon Fraser University the support of the School of Kinesiology, Centre for Systems Science, and Instructional Media Centre, and at the University of Southern California, the Department of Computer Science. Publishing this work in the Advances in Psychology Series published by Elsevier Science is, for us, an honor and we wish to thank George Stelmach and Kees Michielsen for their support and encouragement.
viii THE GRASPING HAND Finally, all our love and thanks to our families and friends for their faith and for “hanging in” for the seven year period we have been working on this book. This book was conceived around the same time as Anne MacKenzie Marteniuk, who at a joyful six years of age, kept us going at the end with hand poems and drawings. Christie expresses her love and thanks to Anne and Ron Marteniuk for their support and patience with “the same time next year” routine. Thea thanks her parents, sisters, friends, and god for their continued support, love, and patience.
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40 WHAT IS PREHENSION? d Figure 2.9
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42 WHAT IS PREHENSION? quired oppos
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44 WHAT IS PREHENSION? sion; i.e.,
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46 WHAT IS PREHENSION? impossible t
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50 THE PHASES OF PREHENSION V cm/s
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52 THE PHASES OF PREHENSION - 0 200
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54 THE PHASES OF PREHENSION recogni
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56 THE PHASES OF PREHENSION Executi
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58 THE PHASES OF PREHENSION untary
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60 THE PHASES OF PREHENSION isting
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64 THE PHASES OF PREHENSION ence, w
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66 THE PHASES OF PREHENSION being p
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68 (sticks up) THE PHASES OF PREHEN
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70 THE PHASES OF PREHENSION (right
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72 THE PHASES OF PREHENSION organiz
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74 THE PHASES OF PREHENSION movemen
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76 THE PHASES OF PREHENSION and bas
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78 THE PHASES OF PREHENSION Figure
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80 THE PHASES OF PREHENSION Again,
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82 THE PHASES OF PREHENSION c Oppos
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84 THE PHASES OF PREHENSION the mac
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86 THE PHASES OF PREHENSION (surfac
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88 THE PHASES OF PREHENSION influen
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90 THE PHASES OF PREHENSION able to
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92 THE PHASES OF PREHENSION A Pfing
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94 THE PHASES OF PREHENSION forces,
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- Computed activation of arm muscle
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98 THE PHASES OF PREHENSION were in
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102 THE PHASES OF PREHENSION same t
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104 THE PHASES OF PREHENSION OBJECT
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106 THE PHASES OF PREHENSION planni
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110 THE PHASES OF PREHENSION antici
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112 THE PHASES OF PREHENSION and te
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114 THE PHASES OF PREHENSION presen
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116 THE PHASES OF PREHENSION determ
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118 THE PHASES OF PREHENSION 5.3 Co
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120 THE PHASES OF PREHENSION tance
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122 THE PHASES OF PREHENSION where
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126 THE PHASES OF PREHENSION A B 18
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128 THE PHASES OF PREHENSION where
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130 THE PHASES OF PREHENSION SR = .
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132 THE PHASES OF PREHENSION MODEL
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134 THE PHASES OF PREHENSION A B Fi
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136 THE PHASES OF PREHENSION to mus
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138 THE PHASES OF PREHENSION method
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140 THE PHASES OF PREHENSION tire b
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142 THE PHASES OF PREHENSION torque
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144 THE PHASES OF PREHENSION relate
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146 THE PHASES OF PREHENSION the ob
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148 THE PHASES OF PREHENSION abilit
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150 THE PHASES OF PREHENSION +60 1
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152 THE PHASES OF PREHENSION result
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154 THE PHASES OF PREHENSION the di
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156 THE PHASES OF PREHENSION crease
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158 THE PHASES OF PREHENSION betwee
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160 50 1 THE PHASES OF PREHENSION 1
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162 THE PHASES OF PREHENSION positi
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- Velocity - Acceleration s-L 1400
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166 THE PHASES OF PREHENSION vocal
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168 THE PHASES OF PREHENSION C z3Oo
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170 THE PHASES OF PREHENSION 150 T
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172 THE PHASES OF PREHENSION T 150
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174 THE PHASES OF PREHENSION grasp
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176 AREA 7 (IPS) THE PHASES OF PREH
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178 THE PHASES OF PREHENSION books
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180 THE PHASES OF PREHENSION h .r?.
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182 THE PHASES OF PREHENSION A B C
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184 THE PHASES OF PREHENSION (1982b
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186 THE PHASES OF PREHENSION _ - B
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188 THE PHASES OF PREHENSION A +6 1
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190 THE PHASES OF PREHENSION activa
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192 THE PHASES OF PREHENSION shape,
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194 THE PHASES OF PREHENSION the st
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196 THE PHASES OF PREHENSION collap
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198 THE PHASES OF PREHENSION Obi& T
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200 THE PHASES OF PREHENSION might
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204 THE PHASES OF PREHENSION about
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206 THE PHASES OF PREHENSION hands
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208 THE PHASES OF PREHENSION Epider
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210 THE PHASES OF PREHENSION the pe
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212 THE PHASES OF PREHENSION FtiYsT
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214 THE PHASES OF PREHENSION focusi
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216 THE PHASES OF PREHENSION thermo
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218 THE PHASES OF PREHENSION nonner
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220 THE PHASES OF PREHENSION hot-wa
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222 THE PHASES OF PREHENSION which,
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224 THE PHASES OF PREHENSION which
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226 THE PHASES OF PREHENSION for FA
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228 THE PHASES OF PREHENSION differ
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230 THE PHASES OF PREHENSION (see C
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232 THE PHASES OF PREHENSION LATERA
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234 THE PHASES OF PREHENSION more a
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236 THE PHASES OF PREHENSION A Poin
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240 THE PHASES OF PREHENSION 6.3.2
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242 THE PHASES OF PREHENSION equati
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244 THE PHASES OF PREHENSION necess
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246 THE PHASES OF PREHENSION graspi
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248 A THE PHASES OF PREHENSION Figu
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250 z J 2 0 c .- Q el X A THE PHASE
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252 THE PHASES OF PREHENSION respec
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254 THE PHASES OF PREHENSION Z 151
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256 THE PHASES OF PREHENSION mechan
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258 THE PHASES OF PREHENSION see He
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260 THE PHASES OF PREHENSION might
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262 THE PHASES OF PREHENSION long a
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264 THE PHASES OF PREHENSION with u
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266 THE PHASES OF PREHENSION Table
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268 THE PHASES OF PREHENSION system
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270 THE PHASES OF PREHENSION In cla
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Table 6.6 Elliott & Connolly (1984)
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274 THE PHASES OF PREHENSION shape
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276 THE PHASES OF PREHENSION In imp
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278 THE PHASES OF PREHENSION cause
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aie3 INTRINSIC - mughnesn aspect of
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284 THE PHASES OF PREHENSION percei
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288 THE PHASES OF PREHENSION approa
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290 5. 6. 7. 8. 9. 10. 11. 12. 13.
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292 THE PHASES OF PREHENSION Fitts
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294 THE PHASES OF PREHENSION accele
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296 THE PHASES OF PREHENSION 27. Ce
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298 THE PHASES OF PREHENSION charac
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300 THE PHASES OF PREHENSION are se
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306 CONSTRAINTS AND PHASES Table 8.
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308 CONSTRAINTS AND PHASES the inde
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310 CONSTRAINTS AND PHASES While th
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312 CONSTRAINTS AND PHASES for a gi
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314 CONSTRAINTS AND PHASES fine, su
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316 CONSTRAINTS AND PHASES level fi
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318 CONSTRAINTS AND PHASES spent in
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z I l l I 0 Y "K ' ,------ Sensorim
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322 CONSTRAINTS AND PHASES componen
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324 CONSTRAINTS AND PHASES and the
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326 CONSTRAINTS AND PHASES 8.6 Summ
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330 CONSTRAINTS AND PHASES 9.1 The
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332 CONSTRAINTS AND PHASES b) impar
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334 CONSTRAINTS AND PHASES The defi
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336 CONSTRAINTS AND PHASES less pre
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338 CONSTRAINTS AND PHASES transpor
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Opposition Space level Sensorimotor
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342 CONSTRAINTS AND PHASES 9.3 Futu
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344 CONSTRAINTS AND PHASES scientif
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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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356 Appendices Table A.l Degrees of
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358 Appendices Flexion: to bend or
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360 A pp e n dic e s Table A.2 Join
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362 A pp e It dices Elbow flex ext
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364 A pp e n dices Table A.2 Joints
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366 A pp e n dic e s Table A.3 Inne
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370 Appendices Table B.l Prehensile
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372 Appendices ...... ........... t
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374 Appendices features of the huma
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376 Appendices fingers (Kamakura et
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378 Appendices Table B.3 Postures c
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380 Appendices opposition, is Napie
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382 A pp e n dic e s relationships
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384 A pp e n dic e s C.2 Artificial
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386 A pp e n dic e s thresholding f
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388 A pp e n dices processing. This
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390 Appendices between two units in
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392 A pp e n dic e s where q is a s
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394 A pp e It d ic e s training set
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396 A pp e It dic e s units. Also,
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398 Appendices only sense is vision
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400 A pp e n dices of computations
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402 A pp e n dic e s satisfy active
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404 Appendices biceps, and shoulder
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406 Appendices Table D.l Commercial
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408 Appendices Table D.2 Commercial
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410 Appendices Sears et al., 1989).
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412 A ppe It dic e s are active, wh
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414 A ppen die es automatic lock wh
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416 A pp e n dices between the thum
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418 Appendices D.3.1 Stanford/JPL h
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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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