Chapter 2. Prehension

ofpalm, 101-5
Orientation, of object
and grasping, 53
and palm opposition, 373
in perturbation studies, 162
and visual perception, 79-80
Output function, of a neural network, 386,
3 86f
P
Pacinian corpuscles, 222-23,223f, 224,225f.
226,227f. 228,255t.256
Pad opposition. see alsQ Opposition;
Opposition space; Palm opposition;
Side opposition
and analytic measures of grasp, 265, 268t
and arbitrary forces and torques, 264
characteristics, 374
and classification of dynamic hand
movements, 19t. 272t. 371t, 372f
and combined grasps, 36,377,378-79t
and deceleration phase, 169
definition, 31,32f, 34f, 335,373
and finger sensitivity to object size,
17Of. 170-71, 172f
and force application, 41,239,247-62
and grasp component, 145, 146,169
and grasp types, 35.43-44,374-75
and magnet phenomenon, 260-61
and motor cortex, 112,174
and neural network, 398
and neural networks, 88,89f, 90
and object shape, 261 -62
and object size, 168f. 169-71, 17Of
and opposition vector, 242
and perception of object ropenies, 232
in permhation studies, 14,158,167
and pyramidal tract neurons, 174
as separate prehensile category from palm
opposiuon, 172-73
and strength of grasping force, 262,263t
and transport com nent, 171
and use of radial ggers, 271
and VF2,33,34f, 173
and virrual fingers, 33,34f, 35,377
and weight perception, 230
Page, of book, as grasped object, 21
Palm. See alsp Palm-focused model of
grasping; Palm opposition
and grasping, 210
innervatlon, 367t
as interface between transport and
gras ing component, 194,196
joints, 36%
muscles, 362t
and setting up opposition s ace, 291f
skin, characteristics of, 20!
and sweating, 221f, 297f
Palm-focused model of grasping, 194-96, 195f,
Subject Index 475
197f, 290-91.291f
Palm opposition. Opposition;
Opposition space; Pad opposition;
Palm, Side opposition
and analytic measures of grasp, 265,268t
characteristics, 373
and classification of dynamic hand
movements, 19t, 272t. 371t, 372f
and collective finger movements. 174
and combined gralps, 36,377,378-79t
definition, 31,32f, 34f. 335-36.373
and force application, 41,239
and grasp cbkponent, 169
and grasp types, 35.44.373-374
and length perception, 229
and neural network, 398
and neural networks, 88, 89f, 90
and object size, 168f, 169-71, 17Of. 172f
and perception of object roperties, 232
in pemrbation studies, 18 as separate prehensile category from pad
opposition, 172-73
and strength of grasping force, 262,263f
and use of ulnar fingers, 271
and virmal fingers, 34f, 35,377
Palm orientation, 101-5
as crucial to prehension, 201
and muscle movement, 194
in palm-focused model of grasping, 197f
Palmar creases, 279
Palmar grasp, lSf, 19t. 2Ot, 21.27.35,
37Ot, 371t
Palmar skin, 208
Palmar slide, 19t, 28,272t. 3704 371t
Paper, sheet of, as grasped object, 21
Papillary ridges, 205-6,208f, 209,214,261,
279
Parallel distributed processing models, of
neural networks, 383,387-88
Paralysis, and use of taaile information for
neurally interfaced control system,
256
Paravertebral ganglia, and sweating, 218
Parietal cortex
Broadmann's Areas, and reaching and
grasping, 175
lesions, and sweating, 218,221f
and maor antex, 120-21
and visually guided reaching, 119
Part motion test, of object p'operties, 232f
Peak acceleration. see Acceleration of
movement, peak
Peak aperture. Aperture, peak
Peak deceleration. Deceleration of
movement, peak
Peak velocity. sgg Velocity, peak
Pectoral girdle muscles, 36Ot
Peg, pick up and insert in hole, as robot
task plan, 65-67.W
(Letters after page numbei K: f=figure; n=footnote; t-table.)