Generalized optimal internal force for three-finger tip-prehension grasps

Research output: Contribution to conferencePaperpeer-review


This study is an extension to our previous work [1] on the computation of the grasping forces for three-finger tip-prehension grasps. It deals with the optimization of internal grasping forces in complicated grasping situations. The new scheme extends and generalizes our previous computation method for grasping forces and is more flexible and robust.

Original languageEnglish (US)
Number of pages5
StatePublished - 1990
Event21st Biennial Mechanism Conference - Chicago, IL, USA
Duration: Sep 16 1990Sep 19 1990


Other21st Biennial Mechanism Conference
CityChicago, IL, USA

All Science Journal Classification (ASJC) codes

  • General Engineering

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