Chapter 2. Prehension

Table of Contents
Preface ........................................................ v
Acknowledgements ......................................... vii
List of Figures ............................................. xiv
List of Tables .............................................. XVII
Part I WHAT IS PREHENSION? ........................ 1
Part I1
Chapter 1 Introduction ................................ 3
Chapter 2 Prehension ............................... 15
2.1 Overview of Prehension ............................ 15
2.2 Prehensile Classifications ........................... 17
2.2.1 Hands as tools ................................. 21
2.2.2 Power vs . precision requirements .......... 22
2.2.3 Precision handling and dynamic grasps .... 25
2.2.4 The bridge between power and precision:
ix
the lateral pinch ............................... 28
2.2.5 The adduction grasp .......................... 29
2.2.6 Gravity dependent grasps .................... 29
2.2.7 Thejhger as antenna ......................... 30
2.3 An Opposition Space Classification ............... 30
2.3.1 Types of oppositions ......................... 30
2.3.2 Virtual fingers ................................. 31
2.3.3 Combined oppositions ....................... 35
2.4 From Classification Towards Quantification ..... 36
2.4.1 Encoding hand postures ...................... 37
2.4.2 State variables for opposition space ........ 38
2.5 Summary .............................................. 42
THE PHASES OF PREHENSION .............. 47
Chapter 3 Serial Order in Prehension .............. 49
3.1 Conceptual Models of Prehension ................. 53
3.2 Derivation of Criteria for Defining a Phase ....... 60
Chapter 4 Planning of Prehension ................ 63
4.1 Types of Planning ................................... 64
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