Chapter 2. Prehension

470 THE GRASPING HAND
han& Robotics
and arm, movements, 148-49
and arm, sensorimotor integration
perturbation studies, 156-66
in reaching and grasping, 156-66
task requirements and object
properties, 141-46
and classification of dynamic movements,
27Of, 271,272t
Constraints, 15, 16-17
control of, as three-tiered model, 326-27
degrees of freedom, 312-13,355t
as effector, 204
evolution of, 4.24
finger joint trajectories, 131-34
and foveation with fingertips, 228
as general pupse device, 4.6.24,
4546,326,329,344,345
human, canpared with monkey, 3
as input and output device, 203-4.334,
337-39
location planning, 94-101.289
manipulative movements, 267-73
and mapping Opposition space, 319-24,
32Of
and mind, relationship with, 3.4
of monkey, compared with human hand, 3
movement, control by brain, 175
muscle activity during lifting, 256
orientation, planning for, 289
pad opposition, and pyramidal tract
neurons, 174
palm-focused model of setting up
opposition space, 194-96,291f
planning location and orientatim, 94-101
postures, classification of, 17-18, lSf,
19-20t. 21-22.30.37-42.369,
370-71t
preshaping, and proprioceptive
information, 185-86,186f
prosthetic, 150,327,401-17,408t,
408-9t
representation of somatosensory co*x,
192
robot, 273-78,402-3.417-21
sensorimotor features, 334-35
and sensory information, 279
skeletal structure, 352f. 353f
skin layers of, 208f
structural constraints on grasping,
312-16
as tool, 4,6,21-22,333-37
trajectory computation, 136f
Hand transport, perturbation studies, 158f.
164f
Handles
and opposition vector, 8 1-82
shape, and force application, 263
Haptics
definition, 20411,229
and grasping, 331
and perce tion of object properties,
228-&, 233f
Hardness, perception of, 231,232,233t. 234
Hebbian leaming rule, 390,390f
Hefting, and perception of weight, 231,232f.
233t
Hemiplegia, and use of tactile information
for neurally interfaced control
system, 256
Hessian matrix, 247
Hetero-associative memory, 95,97,395-99,
396f. 398f
Hierarchical feedback-error learning control
model, 139f. 139-41
Hierarchical model, of motor commands, 56f,
56-57
Holding
and static grasp, 268
and weight rception, 230
Hook grasp, 1E 19t, 2Ot, 21.22.29.264,
369,370t. 371t, 372f. 373,380
Hooke's Law, of stress and strain. 21 1
Horizontal abduction (movement), 358
Horizontal adduction (movement), 358
Horizontal extension (movement), 358
Horizontal flexion (movement), 358
Hyalin. 209,20911
Hydrodynamic lubrication, 216,219
Hypodennis, 204
Hypothalamus, and sweating, 218
H theses to be tested
pl&g opposition space, 289-90
for setting up opposition space, 294-%
osition space, 298-99
H$:;fXkn, 211-13,212f
I
IEEE Conference on Robotics and Automation,
vi
Independent finger movements, disturbances
of, 176
Independent grasp, 167-74. ,see alsg Pad
opposition
Index finger
as antenna, 30,336,380
during grasping, 49
innervation, 367t
and movement speed during grasping, 151
and pad opposition, in grasp component,
145
in perturbation studies, 157-58,160f
and prehensile classifications, 27
in rapid pinching tasks, 153f. 153-54
Index roll grasp, 19t, 28,272t. 371t
Infants. taxonomies of devel
prehensile skius, 376,37F% Of
Informational constraints on grasping, 308t,
3 16.324
hervahon, of upper limb, 359
(Letters after page numbers: f=figure; ndootnote; t-table.)