On force and form closure for multiple finger grasps

@inproceedings{Rimon1996OnFA,
  title={On force and form closure for multiple finger grasps},
  author={Elon D. Rimon and Joel W. Burdick},
  booktitle={ICRA},
  year={1996}
}
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

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