Chapter 2. Prehension

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Appendix A - Human Upper Limb Anatomy 359 close to forty degrees of freedom in the upper limb, of which thirty or more are in the wrist and hand. These motions have standard anatomical labels, described above. The bones, joints, degrees of freedom and motions about the joints are summarized in Table A.l. A.4 Muscles of the Upper Limb Motion about a joint is caused primarily by muscle contractions (and in some instances, allowed by ligaments). There are about 58 muscles of the upper limb, and 9 may be considered as extrinsic to the upper limb, since they attach on other than limb skeletal parts. The rest are intrinsic to the upper limb, with attachments on the limb skeleton. Note that the extrinsic hand muscles cross the wrist and elbow, causing some motion at these joints as well as the joints in the hand. These are to be distinguished from the 19 intrinsic hand muscles, which do not cross the wrist joint. Table A.2 lists the upper limb muscles, and the number of joints crossed on the same line as their PRIMARY actions. Included are muscles which also have some action at more proximal joints than the primary action. A.5 Peripheral and Segmental Innervation of Muscles of the Upper Limb Table A.3 lists the upper limb muscles, their peripheral and segmental innervation. A.6 Sensations of the Upper Limb, and Spinal Innervation In <strong>Chapter</strong> 6, we consider cutaneous mechanoreceptors. Cutaneous sensations are relayed to the spinal cord via dorsal root ganglia at each segmental level. A dermatome is an area of skin innervated by a single dorsal root. Figure AS shows the segmental dermatome mapping of the upper limb, after Keegan et al. (1948), adapted from Hollinshead (1982). The upper limb innervation is derived primarily from C3 to C8 and T1. Dermatome boundaries are not as clear-cut as indicated below because more than one peripheral nerve sends afferents to each dorsal root, and fibers from serveral dorsal roots mix in the peripheral nerves.
360 A pp e n dic e s Table A.2 Joints and muscles in the upper limb ...................................................... # joints Joints Muscles trod Pectoral Girdle elev depr rotu rotd prot retr stemoclavicular acromioclavicular coracoclavicular trapezius (upper) levator scapulae serratus ankrior(upper fibers) pectoralis major latissimus dorsi pectoralis minor subclavius trapezius (upper and lower) serratus anterior levator scapulae rhomboids pectoralis major latissimus dorsi pectoralis minor serratus anterior levator scapulae pectoralis major pectoralis minor trapezius rhomboids latissimus dorsi 3 where: elev elevation depr depression rotu rotation upward rotd rotation downward prot protraction retr retraction
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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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6 WHAT IS PREHENSION? continue in t
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8 WHAT IS PREHENSION? movement. Dom
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10 WHAT IS PREHENSION? Today, with
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12 WHAT IS PREHENSION? prehensile b
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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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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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- Velocity - Acceleration s-L 1400
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176 AREA 7 (IPS) THE PHASES OF PREH
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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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Page 369 and 370: 350 Appendices Anterior (ventral):
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Page 373 and 374: 354 A pp e n dices Table A.l Degree
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Page 383 and 384: 364 A pp e n dices Table A.2 Joints
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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
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Page 421 and 422: 402 A pp e n dic e s satisfy active
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Page 425 and 426: 406 Appendices Table D.l 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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