On force and form closure for multiple finger grasps

  title={On force and form closure for multiple finger grasps},
  author={Elon D. Rimon and Joel W. Burdick},
This paper considers the relationship between force and form closure. Based on a recently developed mobility theory, we give precise deenitions for 1 st and 2 nd order form closure for frictionless grasps. We also introduce the new concept of 2 nd order force closure. We show for the case of frictionless contacts, a grasp is 1 st order force closure if and… CONTINUE READING


Citations per Year

80 Citations

Semantic Scholar estimates that this publication has 80 citations based on the available data.

See our FAQ for additional information.