Chapter 2. Prehension

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V F l p PALM <strong>Chapter</strong> 5 - Movement Before Contact 197 A B C Figure 5.33 The behavior of the palm-focused model of setting up opposition space for prehension. The dashed line along the long axis of the object shows the opposition vector perceived in the object. The solid lines show the hand configuration for pad opposition, where VF1 is the thumb and VF2 is the one or more fingers in opposition. Starting at an initial posture and hand location (A), the palm is positioned and oriented and fingers shaped into some ballpark of the desired location and posture, shown in dashed lines (B). Then, while the arm makes necessary fine adjustments to align the palm, the fingers close trying to go into the object, but are stopped by actual contact (C). mass, and distribution of mass. Since behavioral experiments define the task as the environmentally defined task, we list tasks used in the experiments, such as ‘aim’, ‘fit’, ’grasp’, ‘place’, etc. Observable kinematic features of prehensile behaviors come from the transport component and from the grasp component. From the transport component, movement time, wrist velocity, acceleration, and even jerk have been measured. For these, peaks and time to and after peaks have been used to help identify potential control variables. In terms of the grasp configuration, the aperture between thumb and index finger has been a critical metric of prehension, while also joint angles have also been measured. Even from common everyday experiences, it can be seen that hands preshape into some suitable posture as reaching to grasp objects occurs. Teasing apart the reasons for how and why these unrestrained
198 THE PHASES OF PREHENSION Obi& Task INTRINSIC - spatial density aspect of texture - fragility -weight - size - shape - aenterof mass - distribution of mass EXTRINSIC -orientation - distance - direction ? - motion 0 Aim Fit Grab Grasp Lift Place Place Precisely Point Tap Throw TUmSCRW AT REST ATPEAK'APERTURE - AT CONTACT HAND TRANSPORT Movement time Velocity - peak velocity - time to peak - time in deceleration phase Acceleration -peak acceleration -time to peak acceleration - peak deceleration - time to peak deceleration - time after peak deceleration Higher Derivatives GRASP CONFIGURATION Apeaure -peakaperture - time to peak aperture - time after peak aperture -rate of enclosing Hand Configuration -joint angles - Begment lengths Figure 5.34 The black box revisited. Objects have intrinsic and also extrinsic properties. At the environmentally-defined level, tasks include grasp, lift, and place. At the kinematic level, prehensile behavior can be measured by movement time, velocity, acceleration, etc. For grip evaluating, a key metric has been the grip aperture, or the thumb and index finger separation over time.
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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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4 WHAT IS PREHENSION? The hand itse
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16 WHAT IS PREHENSION? (1988) refer
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18 WHAT IS PREHENSION? in Table 2.1
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22 WHAT IS PREHENSION? Schlesinger
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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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50 THE PHASES OF PREHENSION V cm/s
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250 z J 2 0 c .- Q el X A THE PHASE
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Table 6.6 Elliott & Connolly (1984)
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aie3 INTRINSIC - mughnesn aspect of
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290 5. 6. 7. 8. 9. 10. 11. 12. 13.
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306 CONSTRAINTS AND PHASES Table 8.
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308 CONSTRAINTS AND PHASES the inde
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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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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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Chapter 2. Prehension

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