Chapter 2. Prehension

all, 1%,37Ot
centralized, 30
chuck, 2Ot, 37Ot, 371t
circular, 26f
clench, 78f
coal hammer, 24f, 35, 36, 380
collect enclosure, h, 371t
combined, 2Ot, 35-36,37Ot, 378-79t
cylindrical, 18f, 19t, 2Ot, 21.25.35,
37Ot, 371t, 372f
directional, 19t, 30,371t
disk, h, 371t
distal grasp, 372f
dynamic, 19t, 268,269-70,371t
encompass, 2&, 371t
extension, 1%. 2Ot, 3704 372f
external precision, 2Ct, 27,28f, 371t
finger touch, 2Ot, 371t, 372f
flat, 2Ot. 37Ot. 372f
flexion, 19t, 37Ot
full roll, 19t, 28,272t. 371t
hook, lSf, 19t, 2&, 21,22,29,36,264,
335,37Ot, 371t, 372f
index roll, 19t, 28.272t. 371t
interdigital step 1%. 28,272t. 371t
internal precision, 2Ot, 28f, 30,36,
371t
key, 2&, 262,263f, 37Ot
lateral, 18f, 19t, 2Ot, 21,29,35,335,
3704 37 It, 372f
linear step, 19t, 28,272t. 371t
link, h, 37Ot
nippers, 2Ot, 37Ot, 372f
pad opposition. 1%. 272t. 371t. 372f
palm opposition, 19t, 272t. 371t. 372f
palmar, l8f. 191,204 21,27,28,35,
37Ot. 371t
~~
--.-
palmar slide, 19t, 28,272t. 37&, 371t
pinch, 2Ot, 27,270,272t, 37Ot, 371t,
17-L
JfLl
power, 19t, 2% 23,24f, 25,26f, 29,
30,36,262,263t, 264,335,
37Ot, 371t, 372f
precision, 1%. h, 23,24f, 25,26f,
28f, 29,35, 171,174,26344,
335,370t. 371t
Subject Index 469
tripod, 1%. 2Ot, 27,36,270,335,37Ot
twddle, 19t, 27,270,271,272t, 371t
volar, 2Ot, 37Ot, 372f
wrap. 19t, 25,26f. 371t
writmg, 27,375
Grasping. se &Q Classification,
prehensile; Conceptual models of
prehension; Force application; Grasp;
Grasp component; Grasp strategy;
Grasp types; Grasping
ConStralntS on
high level, 308t, 316-19,324
physical, 307-12,308t, 325
sensorimotor, 308t, 312-16,325
coordination with reaching, 141-74,
178-86
deceleration phase of, 146, 147f
as different from pointing, 148,155
and feedback, 201
and Fins' Law, 318
manipulating passive objects, 271,273
and object velocity, 148,149f
palm-focused model of, 194-96, 195f,
197f. 290-91.291f
and perturbations of load force, 25860
phases, 49-53.60-61. 146-47.339-41,
34of
with prosthetic hand, 150
and sensory information, 60.333
and setup of opposition space, 142
and sweating, 218-19,220
and task requirements, 146-74,331-33
variability, as function of movement
speed and practice, 151
and visual idmation, 175,178-86
Grasping space, 312
Grasping surface patch, 39-40
Gravity
and grasp, 44-45
and hand use, 30
as physical constraint of hand, 16
and VF3.35
Grip. m Grasp
Grip aperture. m Aperture; Grasp
Grip force, 25Of, 251f. 254f, 257s 258-61,
273. Force application
Grip forcefload force ratio, 25Of, 251f. 252,
253,258,259
Grip formation
in perturbation studies, 164f
and pmprioceptive information, 177
Guarded motion, definition, 191,285
Drismatic. 25.26f
pulp, 19t,'2Ot; 262,2631 3704 371t
radial roll, 19t, 28,270-71,272t, 371t
rock, 1%. 27-28.270-71.272t. 371t
rotary step, 19t. 28.2721: 371t
side op ;ition[ 19t, 270,'271,37lt,
3%
span, 2% 37Ot, 371t
spherical, lSf, 19t,h,21,25,35,
H
37Ot. 371 t, 372f
Hammer
squeeze. 18f. 19t. 271.272~ 371t
as grasped object, 31,61,203,283
three jaw chuck, 'h, 27,335,370t. 372f
hitting head of nail, 67,68f, 69
tip, 18f, 1%. 2% 21,35,262,263f,
Hand. see also Aperture; Enclosing;
37Ot,37 It, 372f
Opposition; Reshaping; Prosthetic
(Letters after page numbers: fdigure; n=footnote; t-table.)