Chapter 2. Prehension

Opposition
Space level
Sensorimotor
level
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Opposition + pJpp
Opposition
r -
Figure 9.2 Starting from a resting posture during the Planning of an Opposition Space, the
hand opens and prepares for contact during the phase of Setting up of an Opposition Space.
Once contact is made, Using an Opposition Space begins. Finally, the opposition space is
released. Motor commands from the nervous system are generated at the Opposition Space
level, the Biomechanical level, and the Sensorimotor level, and movement occurs satifying all
the constraints acting on the system.
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P
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