Chapter 2. Prehension

472 THE GRASPING HAND
and force coordination, 25Of, 251f
Mechanorece tors, 112,209-10,226,227f,
and mechanoreceptor activity, 255t. 256
228,25$266
phases, 251f. 252-58,255t
Medial rotation (movement). 358
Limiting ridges, 209
Median sagittal plane, defi&tion, 349
Linear step (as manipulation), 19t, 28,272t, Medulla, and sweating, 218
371 t
Meissner corpuscles, 208f. 209,222,223f,
255t
Memory
for distance, 119, 120
Load -~
hetero-associative. 95,97
force, 25Of, 251f, 257f, 258-60
forlocation, 119,120
phase, of lifting, 251f. 252,253,258,
and phases of prehension. 61
2%
sensorimotor, and mani ulation of
Local sweating, 219
mechanically prdctable objects,
Location, of hand, planning by a neural
27 1
network, 94-98
Merkel's receptors, 208f, 222,223f. 224,
Location, of object
225f, 255
and grasp component, 200
Middle finger, and prehensile
memory for, 119,120
classifications, 27
and setting up opposition s ace, 293
Mind-hand relationship, 3,4. gee alsQ
and transport component, $0
Central nervous system (CNS)
and visual perception, 79.80
'Minimum jerk model', 115
Location terms, of structures of the body, ModelNetwork, 131.132f. 133
349,350
Models, of behavior, 8-10,9f, 342f
Monkey hand, compared with human hand, 3
M
Monocular vision, and distance information,
Macula lutea, 228n
184
Magnet phenomenon, 260-61
Motion types, 11 1
Magnitude, of grasping force, 243-44
Motivational constraints, on grasping, 308t,
Manipulability, 265,268t
316-17.324
Manipulable grasp, characterization of, 274 Motivational systems, of brain, 71f
Manipulation component, 5 1
Motor aspects, of coordinated control
Manipulations
program, llOf
and dynamic grasp, 268,269-70
Motor characteristics, and phases of
frequency characteristics of, 268
prehension, 60
movement classification, 27-28
Motor Command level. 32Of
of objects
Motorcommands, 115117, 116f. 121-23,201,
by humans, 267-73
293-94,34Of, 341
passive and active, 271,273
Motor cortex
by robots. 273-78
inputs affecting movement of hand, 175
Mapping rules
and motor planning, 72.74
and expert systems, 83-85, 106
organization of, 112, 113f
and neural networks, 85-86, 106
and pad opposition, 112,174
Mapping virmal fiigers, using computational and parietal cortex, 120
models, 288-89
Motor equivalence, 69
Mass-spring
Motor goals, of prehension, 17
equation, 121-22
Motor program theory, of planning of
model, 122, 135
prehension, 64
Maximum aperture. Aperture, peak
Motor systems, of brain, 71f, 73f, 120-21
Maximum velocity. Velocity, peak
Movefast Schema
McCulloch-F'itts neuron, of a neural network,
and ballpark model, 188f. 189
384,385f, 386,400
in palm-focused model of grasping, 196
Mechanical constraints on grasping, 308t, 325
Movement
Mechanical level, 32Of
adjustment, 1 11
Mechanical perturbations
control of, using neural network model,
arm, l%f, 159
139f, 139-41
definition, 156-57
corrective, 5 1
effects of, 157-59
goal-directed, phases of, 49
Mechanical prosthetic hand, 409-10
guarded, 191
as process and product, 64-65
(Letters after page numbers: fzfigure; n=footnote; t-table.)