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The unilateral frictional contact problem for the gripper\u2010object system is formulated as a linear complementarity problem. Numerical examples illustrating the theory are given.<\/jats:p>","DOI":"10.1002\/rob.4620100606","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:57:00Z","timestamp":1183730220000},"page":"871-887","source":"Crossref","is-referenced-by-count":2,"title":["A linear complementarity approach to the articulated multifingered friction gripper"],"prefix":"10.1002","volume":"10","author":[{"given":"A. M.","family":"Ai\u2010Fahed","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P. 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