On force and form closure for multiple finger grasps

This paper considers the relationship between force and form closure. Based on a previously developed mobility theory, the authors give precise definitions for 1^st and 2^nd order form closure for frictionless grasps. The authors also introduce the new concept of 2^nd order force closure. The authors show for the case of frictionless contacts, a grasp is 1^st order force closure if and only if it is 1^st order form closure. The authors further show that a grasp is 2^nd order force closure if and only if it is also 2^nd order form closure