The development of tool use: Planning for end-state comfort.

Karen Adolph
Some grips on the handle of a tool can be planned on the basis of information directly available in the scene. Other grips, however, must be planned on the basis of the final position of the hand. “End-state comfort” grips require an awkward or uncomfortable initial grip so as to later implement the action comfortably and efficiently. From a cognitive perspective, planning for end-state comfort requires a consistent representation of the entire action sequence, including...
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