PREHENSION SYNERGIES

Project: Research project

Description

DESCRIPTION (provided by applicant): Three postulates of the prehension control are introduced: (1) prehension synergies are organized as hierarchical, two-step computational processes; (2) to control the finger forces, the CNS uses mode variables; and (3) a torque constraint is a core constraint affecting finger forces in grasping. Based on the postulates and the preliminary data a set of testable hypotheses is formulated: (A) The virtual finger forces obey the principle of superposition. (B) The antagonist moments, when they are mechanically unnecessary, are due to the mode control and the enslaving effects resulting from it. (C) The CNS responds to changes in the object geometry by chain reactions. (D) The mode commands to the fingers generating agonist moments are proportional to the fingers' mechanical advantage, i.e. the distance from the axis of rotation. (E) Grasp stability is under stiffness control. In particular: (a) a small (
StatusFinished
Effective start/end date4/1/028/31/16

Funding

  • National Institutes of Health: $310,436.00
  • National Institutes of Health: $327,021.00
  • National Institutes of Health: $319,990.00

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Experiments
Fatigue of materials
Cost functions
Neurology
Friction
Geometry
Testing