Grasping Hand (eBook)

Front Cover 1
The Grasping Hand 4
Copyright Page 5
Table of Contents 10
Preface 6
Acknowledgements 8
List of Figures 15
List of Tables 18
Part I: WHAT IS PREHENSION? 20
Chapter 1. Introduction 22
Chapter 2. Prehension 34
2.1 Overview of Prehension 34
2.2 Prehensile Classifications 36
2.3 An Opposition Space Classification 49
2.4 From Classification Towards Quantification 55
2.5 Summary 61
Part II: THE PHASES OF PREHENSION 66
Chapter 3. Serial Order in Prehension 68
3.1 Conceptual Models of Prehension 72
3.2 Derivation of Criteria for Defining a Phase 79
Chapter 4. Planning of Prehension 82
4.1 Types of Planning 83
4.2 Task Plans 84
4.3 Perceiving Object Properties 95
4.4 Knowledge of Task Requirements 99
4.5 Selecting a Grasp Strategy 102
4.6 Planning a Hand Location and Orientation 113
4.7 Summary of Planning an Opposition Space 124
Chapter 5. Movement Before Contact 128
5.1 Overview of Trajectory Planning 129
5.2 Transforming a Goal into Motor Commands 134
5.3 Control of Arm Movements 137
5.4 Arm and Hand Together, To Grasp 160
5.5 Schemas for Setting up an Opposition Space 206
5.6 Summary of Setting up an Opposition Space 215
Chapter 6. During Contact 222
6.1 Skin: An Organ Critical For Grasp 224
6.2 Active Touch and Sensorimotor Integration 247
6.3 Analytic Model of Grasping 253
6.4 Force Application in Human Pad Opposition 266
6.5 Force Application With Other Oppositions 281
6.6 Moving a Grasped Object: Transporting, Twiddling, and Twirling 286
6.7 Releasing an Opposition Space 297
6.8 Summary of Using an Opposition Space 298
Chapter 7. Summary of Opposition Space Phases 302
7.1 Planning an Opposition Space 306
7.2 Setting Up an Opposition Space 309
7.3 Using an Opposition Space 315
7.4 Releasing an Opposition Space 318
7.5 Summary 318
Part III: CONSTRAINTS AND PHASES 322
Chapter 8. Constraints on Human Prehension 324
8.1 Physical Constraints 326
8.2 Sensorimotor Constraints 331
8.3 High Level Constrainsts 335
8.4 Mapping Opp. Space to Humans & Robots
8.5 Time Varyig Constraints 343
8.6 Summary 345
Chapter 9. Reevaluation and Future Directions 348
9.1 The Black Box Revisited 349
9.2 Phases of Prehension Revisited 358
9.3 Future Directions 361
9.4 Summary 363
APPENDICES 366
Appendix A. Human Upper Limb Anatomy 368
A.1 Planes of The Body, Terms for Direction 368
A.2 Skeletal Structure of the Upper Limb 370
A.3 Movement and Degrees of Freedom of Joints of the Upper Limb 370
A.4 Muscles of the Upper Limb 378
A.5 Innervation of Muscles of the Upper Limb 378
A.6 Sensations of The Upper Limb, and spinal Innervation 378
Appendix B. Taxonomies of Prehension 388
B.1 Prehensile Classifications for Adults 388
B.2 Prehensile Classifications for Infants 396
B.3 Postures as Combinations of Oppositions 396
Appendix C. Computational Neural Modelling 400
C.1 Introduction 400
C.2 Artificial Neural Networds 403
C.3 Network Example: Heteroassociative Memories 414
C.4 Processing Example 416
C.5 Summary 418
Appendix D. Prosthetic and Robotic Hands 420
D.1 Introduction 420
D.2 Prostheses and Their Control 422
D.3 Dextrous Robot Hands 436
REFERENCES 442
AUTHOR INDEX 474
SUBJECT INDEX 482