Chapter 2. Prehension

fyPe~, 382-83
use of, 37,342f, 343.381-82,399-400
for voluntary movement. 115-17. 116f. 201
Conceptual m&ls of prehension. see aGo
Classification, prehensile;
Computational models of prehension;
Grasping
ballpark model (Greene), 56f. 56-57,
187-89,188f, 196,200-201,294
coordinated control program (Arbib), 53,
54f, 59-61.67.105, llof, 188,
189-91.19of. 333
Jeannerods,' 49-53
limitations of, 59
padl\visual channels (Paillard), 54,
JJI
use of, 8-9,9f, 10.58.342f
Conditioning, of eccrine sweat glands, 217-18
Cone of friction. Amonton's laws of
friction (equation); Coefficient of
friction; Friction
definition, 243,244f
and object rotation, 276-78
and slip, 276,278
and soft fingers, 247
and stable grasp, 243
and task mechanics, 275f
Configurational constraints, of neural
networks, 133
Connectivity, 264,265,268t, 332
Constant Enclose Time model, 189
Constraint satisfaction networks, and motor
commands, 201
Constraints
accessibility, and transport component,
151-52
on grasping
high level, 308t. 316-19.324
physical, 307-12,308t, 325
sensorimotor, 308t, 312-16,325
of hand
functional, 15.16-17
physical, 15, 16-17
of neural networks, 133
of Virmal finger state variables, 41
Contact
force, and joint torques, 240-42
and friction, 220.221f. 297f
normal. 235.239
orientation, .and shape of grasped object,
261-62
point, 235,236
soft finger, 236f. 237-38, 238f
twist system, 236f. 237
wrench system, 236f. 237
Context, and Phases of Drehension. 61
Contour follobing, and-perception'of shape,
231,232f, 233t, 234
Control theoretic models of prehension, 382,
383
Subject Index
ControIlers, 111. see also Feedback;
Feedforward
Convolution, definition, 97n
Coordinated control ogram (CCP)
for grasping, 53, &
as model of CNS. 59.67.105.333 , , ,~~
motor aspects, 1 iof
and setting up o osition space, 188,
189-91,19t;f!
Cord, tying knot in, 35,263
Coronal Dlane. of the bodv. 35Of
Cortex, &d sweating, 216 '
Corticospinal tract, and independent finger
movements, 174
Cost function
and motor commands, 201
of movement, 114,115, 138
Cylinder, as grasped object, 5Of, 51,89f
Cylindrical ras lSf, 19t, 2Ot, 21.25.35,
369,3&, &lt, 372,373
Cylindrical objects, and pad opposition, 152,
26 1
D
DataGlove, use of, in experiments, 89f, 90
Deceleration of movement
and feedback, 148
during grasping, 146,147f. 148
and object velocity. effect on, 148
and object weight, 155
and pad opposition, 168f, 169
and palm opposition, 168f
peak. of transport component, 145
in pelturbation studies, 159,161
phase, 49,SOf. 51
during pointing, 146,147f
and precision requirements of task, 147
sensorimotor adjustments in, 147-48
during throwing, 146,147f
time, 126f, 127
variability in, 147
Deformation, of skin, 210,212f. 221f. 297f
Degrees of freedom
of arm, 113-14
in arm and hand cou led, 114
and connectivity, 33!
and cost function, 114
definition, lh, 358-59
Of hand, 312-13
ofjoint angles, 134f
of muscles, 114
and nervous system, 56
and opposition space, 41
as Dhvsid constraint of hand. 16-17
~ ~
of &thetic hands, 409,410 '
of upper limb, 354t
Delay phase, of lifting, 251f, 252
Delta leamim rule. of neural networks. 86.
(Letters after page numbers: f=figure; n=footnote; t-table.)
465