多数支持点における指先力の―決定法

―平面内の安定把握―

抄録

Stable graspings have been reported so far, however the prehension is treated in such objects that have simplicity in shapes like the building blocks of circular or triangular shaped. Therefore, it is not clear about how an complex-shaped object should be grasped. This made it difficult to determine support forces of the fingers uniquely, in general.
We define a weight center angle with which the force directing the weight center crosses the normal line on the object, and we think the angle is the important factor to realize the stable grasping in the actual environment. Then, we give a clear definition of the stable grasping of a plain object, by making the distribution of a grasp force or a press force smooth around the object. We propose a calculation method to determine the rectangular components of the support force uniquely, at the designated points on the object. The result of the calculation shows the method is useful to solve the support force in controlling multijointed fingers.