Grasping and manipulation of objects by articulated hands

Relations between active joints and displacements of grasped objects and relations between joint torques/forces and external and internal forces are obtained in the consistent form for articulated hands. The reconstructability of the pose of objects grasped by hand also discussed. This is useful for the case where hands grasp objects put on a table in accurately or the case where finger tips have slipped on the surface of grasped objects.