Chapter 2. Prehension

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Table A.l Appendix A - Human Upper Limb Anatomy 355 Degrees of freedom (df) of the upper limb (continued) Bones Joints (tvDe) df Motions Wrist & Hand scaphoid, mdiocarpal 2 flexion & extension lunate & (ellipsoid, synovial) radial & ulnar deviation triquetrum (abduction & adduction) (3 carpals) carpals midcarpal joint & 1 flexion & extension intercarpal joints (irregular, many planar, synovial joints) 2-3? radial & ulnar deviation rotations? NOTE: there are interdependent motions about the radiocarpal, midcarpal & intercarpal joints meta- carpals 1st carpometacarpal (saddle, synovial) 2nd & 3rd carpo- little metacarpal joints (irregular, synovial) 3 flexion & extension abduction & adduction internal & external rotation NOTE: rotation is coupled to flexion & extension (due to ligaments) 4th carpometacarpal 1 flexion & extension (irregular, synovial) 5th carpometacarpal 2? flexion & extension (modified saddle, synovial) abduction & adduc tion 4th and 5th (+orher) l? NOTE: with 5th mp abd? or intermetacarpals cupping? (? , synovial)
356 Appendices Table A.l Degrees of freedom (df) of the upper limb (continued) Bones Joints (tvDe) df Motions Fingers phalanges 1st metacarpophalangeal 2 flexion & extension (condyloid, synovial) abduction & adduction 2nd-5th metacarpophalangeal 2+ flexion & extension (condyloid, synovial) abduction & adduction NOTE: possible only in extension slight rotation 1st interphalangeal 1 flexion & extension (hinge, synovial) 2nd-5th proximal 1 flexion & extension interphalangeal (hinge, synovial) NOTE: there is coupling on extension of fingers 3 and 4 and individual differences in the independence of finger 5 2nd-5th distal 1 flexion and extension interphalangeal NOTE: there is limited (hinge, synovial) independence of fingers 3,4 and 5, with large individual differences
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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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4 WHAT IS PREHENSION? The hand itse
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12 WHAT IS PREHENSION? prehensile b
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22 WHAT IS PREHENSION? Schlesinger
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emphasis on Grasp emphasis on secur
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28 WHAT IS PREHENSION? (screwing on
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30 WHAT IS PREHENSION? suggested th
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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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42 WHAT IS PREHENSION? quired oppos
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44 WHAT IS PREHENSION? sion; i.e.,
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50 THE PHASES OF PREHENSION V cm/s
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- Computed activation of arm muscle
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130 THE PHASES OF PREHENSION SR = .
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- Velocity - Acceleration s-L 1400
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174 THE PHASES OF PREHENSION grasp
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176 AREA 7 (IPS) THE PHASES OF PREH
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184 THE PHASES OF PREHENSION (1982b
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240 THE PHASES OF PREHENSION 6.3.2
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248 A THE PHASES OF PREHENSION Figu
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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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Page 369 and 370: 350 Appendices Anterior (ventral):
Page 371 and 372: 352 Appendices =!- / Scapula Acromi
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Page 379 and 380: 360 A pp e n dic e s Table A.2 Join
Page 381 and 382: 362 A pp e It dices Elbow flex ext
Page 383 and 384: 364 A pp e n dices Table A.2 Joints
Page 385 and 386: 366 A pp e n dic e s Table A.3 Inne
Page 389 and 390: 370 Appendices Table B.l Prehensile
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Page 393 and 394: 374 Appendices features of the huma
Page 395 and 396: 376 Appendices fingers (Kamakura et
Page 397 and 398: 378 Appendices Table B.3 Postures c
Page 399 and 400: 380 Appendices opposition, is Napie
Page 401 and 402: 382 A pp e n dic e s relationships
Page 403 and 404: 384 A pp e n dic e s C.2 Artificial
Page 405 and 406: 386 A pp e n dic e s thresholding f
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Page 417 and 418: 398 Appendices only sense is vision
Page 419 and 420: 400 A pp e n dices of computations
Page 421 and 422: 402 A pp e n dic e s satisfy active
Page 423 and 424: 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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