Chapter 2. Prehension

464 THE GRASPING HAND
level, of mapping, 32Of. 321,340f. 341
Black box view of prehension, 6,7f, 43f,
198f, 28Of. 329,330f
Body, planes of, 349,350f
Bones
~~~~~
of arm, 352f 354t
of forearm, 352f, 354t
of hand, 352f, 3535 354t. 35%
of shoulder girdle. 352f. 354t
of upper limi, 351,352f
Bottle, removing plug from, as grasped
object, 52f
Boundary lubrication, 216,219,221f, 297f
Box, as grasped object, 21
Brain. Central nervous system (CNS)
Brodmann's Areas, of brain, 175,176
C
Canadian Institute for Advanced Research
(CLW, vi
Capture Phase, 296
Cartesian swce. 240.241.242
CCP. Csorr&ateh ~Ontrol Program (CCP)
Central nervous system (CNS)
aperture, selecting, 94
compared to computational nervous system,
in robotics, 32Of
and constraints on grasping, 311,314-16
as controller of hand, 6
and grasping, 73f
and hand movement, 6, 176f
motivational systems, 71f
and motor control, 113-14, 118-23, 121,
174-78
and motor planning, 72-76,74f
motor systems, 71f, 73f, 120-21
object perception by, 75-76
perception of opposable surfaces by,
81-83
and planning opposition space, 70-76.289
and proximal muscles, 174
and sensory information processing,
58-59,201,222-28
sensory systems, 71f
and setting up opposition space, 174-78,
294
and specific task and object properties,
294
and visually directed reaching and
grasping, 175
Central vision
and acceleration profile, 181-83, 182f
and grasping, 178,179,181-84,182f
and transport com
Centralized grasp, 3$nenL 200
Cerebellum, and control of reaching and
grasping, 175
CerebrocerebellumParvo Red Nucleus system,
and control of voluntary movement,
141
Chalk, as grasped object, 27
Cholinergic fibers, and sweating, 218,221f
Chopsticks, as grasped objects, 36,375
Chuck grasp, 2Ot, 37Ot. 371t
CIAR (Canadian Institute for Advanced
Research), vi
Cigarette
as grasped object, 29.31.263
lighting, 25,271
Cinematography, and study of movement, 144n
Circular grasp, 26f
Circumduction (movement), 358
Classification, prehensile. See alsQ
Conceptual models of prehension;
Grasping
dynamic gras 25 30,26f, 28f. 42
and function&, ;8
hand postures, 17-18, lSf, 19-2Ot, 21-22,
42,369-73,370-71t, 372ff
Opposition Space model, 30-36,32f, 34f,
38-45
quantification of grasps, 36-45,38f, 40f
summary table, 19-20t. 370-71t
by task, 22-25,24f, 42
Claw grasp, 30
Clench grasp, 78f
Climbing object, as dynamic hand movement,
-IT-+.
LlLL
CNS. see Central nervous system (CNS)
Coal hammer grasp, 24f, 35,36,380
Coefficient of friction. Amonton's
laws of friction (equation); Cone of
friction; Friction
definition, 21 1,309,343
and object properties, 281
static, 249,309
Collagen, 207,210
Collect enclosure grasp, 2Ot, 371t
Collective finger movements, 174,175
Collective grasp. 171
Combined grasps, 2Ot, 35-36,37Ot, 377-80,
378-79t ~~.
Compliance, 20%. 264,265,268t. 332
Compliance center, 247
Compliant motion, 111,228,285,300-301
Commession, and skin, 210
Combtationd models-of prehension. See also
COnCepNal models of prehension;
Expert systems; Neural networks
adaptation, 389-95
for arm trajectories, 127-28, 129f. 200
definition, 381
for generating motor toques, 138-41,
139f. 200
of motor commands, 201
and parallel distributed processing. 383,
387-88
for preshaping and enclosing, 189-91,
190f
(Letters after page numbers: f=figure; n=footnote; t-table.)