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The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.<\/jats:p>","DOI":"10.1017\/s026357471700008x","type":"journal-article","created":{"date-parts":[[2017,2,27]],"date-time":"2017-02-27T08:09:42Z","timestamp":1488182982000},"page":"2381-2399","source":"Crossref","is-referenced-by-count":12,"title":["In-hand forward and inverse kinematics with rolling contact"],"prefix":"10.1017","volume":"35","author":[{"given":"Lei","family":"Cui","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian S.","family":"Dai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2017,2,27]]},"reference":[{"key":"S026357471700008X_ref50","doi-asserted-by":"crossref","unstructured":"J. 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