Internal forces and stability in multi-finger grasps

M. M. Svinin, M. Kaneko, T. Tsuji

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. For the gravity-induced stiffness, one condition for stability, formulated in terms of geometric and gravity centers, is obtained. The internal forces are introduced with the use of a virtual linkage model. Within this representation, two conditions for stability under internal force loading are formulated in an analytical form. The conditions obtained are applied to the synthesis of a three-fingered grasp.

Original languageEnglish
Pages (from-to)413-422
Number of pages10
JournalControl Engineering Practice
Issue number3
Publication statusPublished - Mar 1999
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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