Optimal contact forces for multi-fingered robotic hands using inner links

A method is proposed to determine optimal contact forces for articulated multifingered robotic hands, especially when the robotic hands grasp the objects by using inner link contact as well as fingertip contact. In the method, both the soft finger contact and the point contact with friction are considered for realistic modelling. A numerical example is illustrated by employing a robotic hand with three fingers each of which has four joints, where the proposed method is shown to be more efficient than the methods using only fingertips in the sense of stability and uniform distribution of the contact forces.<>