A sufficient condition and a new quality criterion for force-closure grasps synthesis of 3D objects

The stability of a grasp is characterized by force-closure property, under which arbitrary forces and torques exerted on the grasped object can be balanced by the contact forces applied by the fingers. Existing force-closure tests require considerable computation time. Thus, heuristic approaches are a way to improve performance. In this work, we propose a sufficient but not necessary method to compute force-closure grasps of 3D objects. Our approach works with general objects and with any number n of contacts (nges4).