Analysis of finger position regions on grasped object with multifingered hand

In this paper, an analytical approach for obtaining finger position regions of an object with multifingered hand is proposed. The successful grasp of the object can be achieved if the resultant force and resultant moment acting on the object are zero. First, a method that can be used to determine which combination of the object edges touched by fingers is possible to be used for grasping, is given by using the force equilibrium condition. Then, a graspable finger position region on an edge combination is defined where the object can be held successfully and that the region is bounded by plural boundary hyperplanes is shown. With the combination of these boundary hyperplanes, an algorithm for obtaining the graspable finger position region is proposed. Finally, computing examples are performed to verify the effectiveness for the proposed approach.