In this chapter it is our goal to determine the constraints required for a particular grasp to completely immobilize an object. Each contact between a finger and an object reduces the number of degrees of freedom of the object and at the same time allows external forces to be applied to the object. In this chapter we are not interested in single contacts between bodies; rather we are focused on the effects of multiple contacts on a grasped object. A mathematical description of a grasp with multiple fingers is introduced.
KeywordsVirtual Object Finger Force Finger Joint Friction Cone Contact Matrix
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