Abstract
This chapter deals with the tasks of transforming object properties, relevant for grasping purposes, into suitable hand configurations, and executing an appropriate grasping action on the target object. Analytical expressions of the transfer functions realized by particular types of neurons (surface and axis orientation selective) are derived and discussed. The obtained representations are used in grasp planning and execution, and the different projections to AIP and its job as the fundamental hub in programming and monitoring grasping actions are discussed.