Chapter 2. Prehension

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<strong>Chapter</strong> 5 - Movsrnent Before Contact 163 transport component. In contrast, there were obvious differences in anticipatory hand posturing between the egg-like object and the spheri- cal one. On perturbed trials, when the sphere suddenly expanded to appear egg-like, the fmt evidence for alterations in hand configuration occured at least 500 ms after perturbation onset. He noted this time required elaboration of new commands, and the configuration of a new, appropriate grip pattern before the beginning of fiiger closure. Thus, in contrast to the short times for compensation to visual perturbation of extrinsic characteristics, it appears that perturbing intrinsic object characteristics requires a longer time to reconfigure the opposition space parameters. In a larger experiment (more subjects, more trials with a computerized motion analysis system), with pertur- bations to obiect size both grasp and transport components were affected (Paulignan, Jeannerod, MacKenzie, 8z Marteniuk, 199 1). Using pad opposition, subjects grasped one of two, nested dowels, placed 35 cm away. The inner, ‘small’ dowel was 10 cm high and 1.5 cm in diameter; the outer, ‘large’ dowel was 6 cm high and 6 cm in diameter. On 20% perturbed trials one of the two translucent dowels would be illuminated, then at movement onset, the illumination would suddenly switch to the larger (S->L) or smaller (L->S) dowel, giving the impression of an expanding or shrinking dowel respectively. Results showed that movement time for S->L trials, requiring a change in direction of planned aperture size (i.e., a reopening, compared to initial selection), increased by 175 ms, whereas L->S trials, requiring a change in magnitude of planned aperture size (ie., greater closing), increased by only 98 ms. Compared to control, unperturbed trials, none of the kinematic landmarks up to peak deceleration were affected by the perturbation; all changes to the transport kinematics occurred after peak deceleration (about 300 ms), during the low velocity phase. Shown in Figure 5.20, grip formation for the S->L perturbation showed a first peak (corresponding in time and amplitude to the peak aperture for the small dowel in control conditions), some discontinuity, then reincreased to accommodate the size of the new dowel. This reincreasing occurred 330 ms after movement onset (as determined from the grip velocity profile), after peak deceleration. The time between the two peaks in grip aperture for S->L was about 180 ms. The aperture evolution for the L->S perturbation was much attenuated, showing no discontinuities and only one peak, and identical to control large conditions, except for a longer enclose phase, until the fingers reached their contacting locations on the smaller dowel. Remarkable in these data was the low variability in the spatial paths of the hand, as enclosing occurred. This
- Velocity - Acceleration s-L 1400 0 --zzzE TIME (ms) 0 175 350 525 700 TIME (ms) 0 1 - 800 0 175 350 525 700 TIME (ms) Figure 5.20 Kinematics of hand transport, grip formation and spatial path in the small control and small-to-large perturbed (S->L) conditions. Top row: small dowel control, unperturbed trials, Bottom row: small-to-large perturbed (S->L) trials. Left to right: hand transport, grip formation and spatial path (from Paulignan, Jeannerod, MacKenzie, & Marteniuk, 1991; reprinted by permission). w CI o\ P
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ADVANCES IN PSYCHOLOGY 104 Editors:
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NORTH-HOLLAND ELSEVIER SCIENCE B.V.
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vi THE GRASPING HAND including comp
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viii THE GRASPING HAND Finally, all
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X THE GRASPING HAND 4.2 Task Plans
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xii THE GRASPING HAND Part I11 CONS
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xiv Figure 1.1 Figure 1.2 Figure 1.
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XVi THE GRASPING HAND Figure 6.12 F
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emphasis on Grasp emphasis on secur
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Figure 2.5 Prehensile postures cons
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Figure 2.7 Oppositions can be descr
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36 WHAT IS PREHENSION? Many posture
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40 WHAT IS PREHENSION? d Figure 2.9
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Table 6.6 Elliott & Connolly (1984)
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aie3 INTRINSIC - mughnesn aspect of
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306 CONSTRAINTS AND PHASES Table 8.
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z I l l I 0 Y "K ' ,------ Sensorim
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Opposition Space level Sensorimotor
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342 CONSTRAINTS AND PHASES 9.3 Futu
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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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388 A pp e n dices processing. This
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392 A pp e n dic e s where q is a s
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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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Chapter 2. Prehension

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