THE ADAPTIVE-CONTROL OF PREHENSION

This paper provides a brief overview of the adaptive control of prehen sion. Several primary issues for research in the field are considered. One pertains to the stages of prehensile activity, with particular co ncern for the kinematic control of precontact phases, and the coordina tion of load and grip forces following contact. Others relate to the b asis of anticipatory and sensory-guided (via visual, proprioceptive, t actile, and haptic feedback) control of prehension. The nature of inte rnal representations of actions is also briefly considered.