A minimizing force model based on bounded force closure in multi-fingered grasping deformable object

Based on the characteristics of dexterous hand, a physically-based multi-fingered minimizing force model is proposed for the stable grasp of soft fingers on the surface of deformable object, whose goal is to establish a simple but robust control method for grasping manipulation. The trajectory of fingertips movement is introduced to show exact grasping positions, which is the base of force closure grasp. In addition, it is necessary to investigate the conditions for force closure in order to derive the properties of force closure grasp. To overcome the uncertainty in the solution of the general model and produce realistic force feedback for virtual hand grasp, optimized models with minimizing grasping angle criterion is performed to evaluate stability of grasping deformable object. Lagrange multiplier with mixed constrains is discussed to realize the optimization schemes to solve the Multisolvability. Finally, some graphical examples are included to demonstrate the effectiveness of the proposed method. Experimental results show that using the force generation and feedback method, the user can sense realistic contact forces via the Cyber Grasp data glove during the process of virtual grasp.