Chapter 2. Prehension

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Chapter 2 - Prehension 33 Figure 2.6 Grasping different sized mugs. The hand initially is in a resting state, on the right side of the figure. As it reaches to grasp the cup, different numbers of fingers are used to be inserted into the handle. The three forces needed in this task are being supplied by three virtual fingers. Virtual finger 1 (VF1) is placed on top of the handle. The number of real fingers mapped into virtual finger two (VF2) depends here on the size of the handle. A third virtual finger (VF3) forms by remaining fingers to counteract the moment of the mug (from Arbib, Iberall & Lyons, 1985; reprinted by permission). (VF1) applies a force in opposition to the index finger (VF2). For a coffee mug (Figure 2.6b), two fingers fit within the handle to form VF2, while Figure 2.6~ demonstrates the case where VF2 is comprised of three fingers. Two virtual fingers apply forces in opposition to each other, and the direction of these forces is relevant in order to clarify the type or types of oppositions. A hand coordinate frame can be placed on the palm for specifying these directions (see inset, Figure 2.7). Pad opposition (Figure 2.7a) occurs along the x axis between the thumb as VF1 and one or more fingers as VF2. Palm opposition (Figure 2.7b) occurs along the z axis between the palm as VF1 and the fingers as VF2. Side opposition (Figure 2.7~) occurs along the y axis between the thumb as VF1 and the index finger as VF2. Side opposition can also occur between two fingers.
Figure 2.7 Oppositions can be described in terms virtual fingers, relative to a hand coordinate frame placed on the palm (see inset). A. Pad opposition occurs along an axis x generally parallel to the palm. B. Palm opposition occurs along an axis z generally perpendicular to the palm. C. Side opposition occurs along an axis y generally transverse to the palm. VF=virtual finger. w p. x
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Table 6.6 Elliott & Connolly (1984)
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aie3 INTRINSIC - mughnesn aspect of
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306 CONSTRAINTS AND PHASES Table 8.
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z I l l I 0 Y "K ' ,------ Sensorim
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350 Appendices Anterior (ventral):
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352 Appendices =!- / Scapula Acromi
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354 A pp e n dices Table A.l Degree
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356 Appendices Table A.l Degrees of
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358 Appendices Flexion: to bend or
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360 A pp e n dic e s Table A.2 Join
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362 A pp e It dices Elbow flex ext
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364 A pp e n dices Table A.2 Joints
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366 A pp e n dic e s Table A.3 Inne
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370 Appendices Table B.l Prehensile
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372 Appendices ...... ........... t
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374 Appendices features of the huma
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376 Appendices fingers (Kamakura et
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378 Appendices Table B.3 Postures c
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380 Appendices opposition, is Napie
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382 A pp e n dic e s relationships
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384 A pp e n dic e s C.2 Artificial
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394 A pp e It d ic e s training set
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396 A pp e It dic e s units. Also,
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398 Appendices only sense is vision
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400 A pp e n dices of computations
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402 A pp e n dic e s satisfy active
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404 Appendices biceps, and shoulder
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406 Appendices Table D.l Commercial
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408 Appendices Table D.2 Commercial
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410 Appendices Sears et al., 1989).
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412 A ppe It dic e s are active, wh
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414 A ppen die es automatic lock wh
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416 A pp e n dices between the thum
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418 Appendices D.3.1 Stanford/JPL h
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420 A pp e n dices D.3.3 Belgrade/U
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424 THE GRASPING HAND Arbib, M.A. (
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426 THE GRASPING HAND Bullock, D.,
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428 THE GRASPING HAND Cutkosky, M.R
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430 THE GRASPING HAND Focillon, H.
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432 THE GRASPING HAND Gordon, A.M.,
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434 THE GRASPING HAND Hollerbach, J
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436 THE GRASPING HAND Jeannerod, M.
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438 THE GRASPING HAND Kamakura, N.,
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440 THE GRASPING HAND Landsmeer, J.
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442 THE GRASPING HAND MacKenzie, C.
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444 THE GRASPING HAND Moore, D.F. (
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446 THE GRASPING HAND Phillips, C.G
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448 THE GRASPING HAND Rumelhart, D.
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450 THE GRASPING HAND disconnection
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452 THE GRASPING HAND Weir, P.L. (1
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456 THE GRASPING HAND Childress, D.
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458 THE GRASPING HAND Johansson, R.
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460 THE GRASPING HAND Proteau, L.,
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464 THE GRASPING HAND level, of map
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466 THE GRASPING HAND a h Generaliz
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468 THE GRASPING HAND Forces. Force
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470 THE GRASPING HAND han& Robotics
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472 THE GRASPING HAND and force coo
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474 THE GRASPING HAND and task requ
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476 THE GRASPING HAND Pen, as grasp
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478 THE GRASPING HAND Screwdriver,
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480 THE GRASPING HAND and oppositio
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482 THE GRASPING HAND and grasping,
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