Chapter 2. Prehension

Chapter 4 - Planning of Prehension 89
Circular cylinder
Ncuron activity Neuron activity
1.00
0.00 .
1.00.
O.W.
I 1 1 4 1 2 3 4
Keuron index of the 3rd layer Neuron index of [lie 3rd hycr
(a) Palm Opposition (b) Pad Opposition
Sphere
Neuron activity Neuron activity
I n
Neuron indes of the 3rd layer Neuron index of Ihe 3rd h?cr
(c) Palm Opposition (d) Pad Opposition
Figure 4.10. Internal representation for grasped objects. a)
Grasping different size cylinders in palm opposition. b) Grasping
different size cylinders in pad opposition. c) Grasping different
size spheres in palm opposition. d) Grasping different size spheres
in pad opposition (from Uno et al., 1993; reprinted by
permission).