Direct computation of grasping force for three-finger tip-prehension grasps

Z. Ji, B. Roth

Research output: Contribution to journalArticlepeer-review

34 Scopus citations


This paper deals with the computation of grasping forces for grasps using three-fingered tip-prehension. Of primary interest is the optimization of the internal forces and the direct computation of the grasping force. Using geometrical reasoning, we derive the conditions for minimizing the dependence of the internal forces on contact friction. Based on these conditions, formulas are derived for calculating the optimal internal and grasphing forces.

Original languageEnglish (US)
Pages (from-to)405-413
Number of pages9
JournalJournal of mechanisms, transmissions, and automation in design
Issue number4
StatePublished - 1988
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • General Engineering


Dive into the research topics of 'Direct computation of grasping force for three-finger tip-prehension grasps'. Together they form a unique fingerprint.

Cite this