Chapter 2. Prehension

474 THE GRASPING HAND
and task requirements, 80-83, 146-56
temperature, 23 1,233t
texture, 156.23 1,232,233t. 234,249,
253
and transport component, 199
volume, 231,233t
weight, 76, 154-56,229,230,231,233t
Objects. Direction, of object; Distance,
of object; Object properties;
Objects, grasping and handling; Size,
of object; Surface, of object;
Texture, of object; Velocity, of
object; Weight, of object
Objects, grasping and handling
active objects, 271,273
bag, hooking over fingers, 36
ball, 21.31
ball bearing, 21
basketball, 237
baton, twirling, 276-78,277f
bottle, removing plug from, 52f
box, 21
chalk, 27
chopsticks, 36,375
cigarette, 25,29,31,271
cord, tying knot in, 35,271
cylinder, 5Of, 51,89f
dowels, 155-56.163-65. 164f, 166-69,
168f, 172f. 189,254f, 261-62,
286f
drill, 27
glass, 275% 276
golf ball, 237
hammer, 31,61,67,68f, 69,203,283
lid, screwing, 28
mug, 21,31,33f, 35,80,82, 86, 187
needle, 21
page, of book, 21
paper. sheet of, 21
passive objects, 271.273
peg, pick up and insert in hole, 65-67,
66f
pen, 21,27,28
pencil, 275
releasing, 278-79
rods, 229
rubber bulb or syringe, 27
sandpaper, 247,249,250f
scissors. 375
screwdriver, 4-6,31, 151-52
silk, 247,249,250f
sphere, 89f
suede, 247,249,250f
suitcase, 21.29.35
teacup, 3 1
top, turning, 25
watch, winding, 28
Opposition. see a l s Grasp ~ types; Opposition
space; Pad opposition; Palm
opposition; Side opposition
definition, 31,358
dynamic combinations, 35-36,271,377,
378-79t, 380
and lifting, 235f
as movement, 358
pad, definition, 31,32f, 33,34f
palm, definition, 31,32f, 33,34f
prehensile postures, 32f
as prehensile primitive, 31,32f, 33
selecting
opposable surfaces, 83-90
using object and task requirements,
83-90
side. definition, 3 1,32f, 33,34f
state variables of, 39
thumb, 3 In
and virtual fingers, 34f, 377,378-79t,
380
oppOsi$on space
classlfications, 30-36.373
defition, 38-39,142n
and degrees of freedom, 41
and grasp strategy, 288
and grasping, 142
kinematic profiles for setting up and
using, 286f
mapping, into human and robot hands,
319-24,32Of
model, 38-42,344-45
and object properties, 287
and opposition vector, 288f
and palm orientation, 103-5, 104f
in perturbation studies. 157
phk, 283-86,284f, 285,299-301
planning, 105-7,287-90,299-300,337,
34Of, 341
and reaching, 142
releasing, 278-79,299,300,34Of, 341
setting u 187-91,196-201,290-96,300,
337%. 34Of, 341
state variables, 39,321
Using, 296-99,297f, 300,338-39,34Of,
341
Opposition Space level, 32M, 321,34Uf, 341
Opposition vector
and approach vector, 106f, 107, 151,288f
definition (equation), 242
and grasp aperture, 145-46
and neural networks, 99f
and pad opposition, 242
and planning opposition space, 105,288f
use of, 81-82.82f. 107
Oppositions. Opposition; Opposition space
OPTOTRAK system, for measuring position
coordinates, 127
Orient Palm Schema, 194,195f. 195-96,291f
Orientation. see also Orientation, of object
of contact point, 235
maps, of a neural network, 97
and opposition space, 103-5.104f