Natural human activities involve applying cognitive skills to use and manipulate objects around us, often several at a time, simultaneously and continuously. Consider the simple act of doodling, which requires several cognitive skills:(1) choosing how to grasp a pencil,(2) sequencing actions like drawing and erasing, and (3) reasoning about various social norms like if the paper were not scrap, then it might be inappropriate to scribble on it.
@inproceedings{sarathy2016krdc,
title={Cognitive Affordance Representations in Uncertain Logic},
author={Vasanth Sarathy},
year={2016},
booktitle={KR Doctoral Consortium},
url={https://hrilab.tufts.edu/publications/sarathy2016krdc.pdf}
}