Chapter 2. Prehension

z
I l l
I
0
Y "K '
,------ Sensorimotor
I Level
Opposition
Space Level
U
Mechanical
Level
otor Command
Level
t
4--
++--
Figure 8.1 Levels of mapping. An opposition space describes a hand posture in terms of VFs
and opposition parameters. These are constrained by contact and joint forces and torques at
the Biomechanical and Mechanical level. These are further constrained by muscle activation
and motor commands, integrated with responses from surface and internal sensors at the
Sensorimotor and Motor Command level. A controller chooses an opposition space that both
satisfies the requirements of the task as well as the constraints imposed by the hand.