Optimal two-finger squeezing of deformable objects

This paper gives an in-depth analysis of two-finger squeeze grasping of deformable objects introduced in our previous work [6] with a focus on two special classes: stable squeezes, which minimize the potential energy of the system among squeezes of the same magnitude, and pure squeezes, which eliminate all possible Euclidean motions from the resulting deformations. Next, the paper characterizes the best resistance by a grasp to an adversary finger under known translation, as the one that minimizes the work done by the grasping fingers. An optimization scheme is offered to deal with the general case of frictional segment contact. Simulation and experimental results are presented.