Stiffness analysis of multi-fingered dextrous hands based on contact geometry and configuration change

We consider the contact geometry and the effect of grasp configuration change. On the grasp stiffness, this paper deals with the stiffness analysis both at the grasped object and the joint levels. Moreover, a set of formulas for computing stiffness in the hand-object system has been developed by means of introducing the additional stiffness induced from the grasp configuration change. An example of two-fingered hand with its grasped object is used to demonstrate the applicability of the method. Finally, the paper discusses the influence of the stiffness change on grasping stability