The adaptive control of prehension.

This paper provides a brief overview of the adaptive control of prehension. Several primary issues for research in the field are considered. One pertains to the stages of prehensile activity, with particular concern for the kinematic control of precontact phases, and the coordination of load and grip forces following contact. Others relate to the basis of anticipatory and sensory-guided (via visual, proprioceptive, tactile, and haptic feedback) control of prehension. The nature of internal representations of actions is also briefly considered.

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