FORCE-CLOSED GRASPING WITH 2 HANDS

Two-handed grasping of rigid objects in two-dimensional space is studi ed. The hands considered in this article are either flat-surface palms or grippers with two angular-motion fingers. Presented in this articl e is a condition that establishes the existence of force-closed graspi ng without the knowledge of the shape of the grasped object and of the exact contact locations on the palms or fingers. Further, an algorith m is developed that determines force-closed grasping based on the posi tion and orientation of the two hands. (C) 1993 John Wiley & Sons, Inc .