Chapter 2. Prehension

50 THE PHASES OF PREHENSION
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ROD
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CY LlNDER
Figure 3.1 Wrist velocity and aperture profiles for grasping two
different sized objects. Top row: Transport component on the left
for a small rod (2 mm in diameter) and on the right for a large
cylinder (5.5 cm in diameter). Lower row: Manipulation
component for the same two objects. Solid line represents
position and dashed line represents the velocity profile (from
Jeannerod, 1981; reprinted by permission).