Kinematic feasibility analysis of 3-D multifingered grasp

The problem of determining whether a 3-D grasp is kinematically feasible is addressed in this paper. A unified computational framework for the kinematic feasibility analysis of grasps is proposed. In the study, we transform the detection of the feasibility of the grasp to the estimate of the relationship (contact, penetrate, and detach) between the exterior surfaces of the object and the hand´s elements (phalange and palm). The feasibility of a grasp then becomes equivalent to the estimate of the distance between the two section-lines in the same cross section. This allows us to cast the feasibility analysis conveniently as a problem of estimating the distance between two curves (or some points on the two curves) on a 2-D plane. Theoretically the object to be grasped can be any shape. An example is given to validate the method.