Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps

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 grasping forces.