{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:42:32Z","timestamp":1777714952408,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1990,12,1]],"date-time":"1990-12-01T00:00:00Z","timestamp":660009600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1990,12]]},"abstract":"<jats:p>This paper is concerned with the handling of any object by an articulated multifingered hand. By handling we mean the secure grasp of a general object plus the manipulation of this object by the fingers without motion of the arm on which the hand is mounted. Hypothetical joints are used to express the freedom at the contact of the object with each fingertip. A pair of matrices are introduced that relate the small motions of the joints to the relative displacement of the object and the fingertips and that are derived using reciprocal screws. This analysis permits not only the determination of the necessary conditions for a secure handling of the object but also the investigation of the special configurations that may occur. In the case of a grasp with point contact with friction, a very important result is derived that leads to a considerable sim plification in the analysis of these matrices. It is further shown that there exists a particular point, called the center of the grasp, at which the direction of the force applied to the object does not influence the contact intensities. Following this it is demonstrated that the vector containing the contact intensities, generated by a unit couple applied to the object, generates an ellipsoid defined as the grasp ellipsoid. The two smaller axes of this ellipsoid show where to place the con tacts to minimize the contact forces for a given task. The results are illustrated with numeric examples in appendix C.<\/jats:p>","DOI":"10.1177\/027836499000900601","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"3-18","source":"Crossref","is-referenced-by-count":21,"title":["Kinestatic Analysis of Multifingered Hands"],"prefix":"10.1177","volume":"9","author":[{"given":"Lotfi","family":"Romdhane","sequence":"first","affiliation":[{"name":"Center for Intelligent Machines and Robotics University of Florida Gainesville, Florida 32611"}]},{"given":"Joseph","family":"Duffy","sequence":"additional","affiliation":[{"name":"Center for Intelligent Machines and Robotics University of Florida Gainesville, Florida 32611"}]}],"member":"179","published-online":{"date-parts":[[1990,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/2438.001.0001"},{"key":"atypb2","volume-title":"Class notes","author":"Duffy, J.","year":"1983"},{"issue":"4","key":"atypb3","volume":"1","author":"Holzmann, W.","year":"1985","journal-title":"IEEE J. Robot. Automat. RA"},{"key":"atypb4","volume-title":"An analysis of multi-fingered hands. Ph.D. dissertation","author":"Kerr, J.R.","year":"1984"},{"key":"atypb5","volume-title":"Restraint analysis of a rigid body using frictional elastic contacts","author":"Kerr, D.R.","year":"1986"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400101"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254968"},{"key":"atypb8","volume-title":"Task oriented optimal grasping by multifingered robot hands. Memorandum no. UCB\/ ERL M86\/43, Electronics Research Laboratory","author":"Li, Z.","year":"1986"},{"key":"atypb9","volume-title":"Geometry and mapping of screws with applications to the hybrid control of robotic manipulators. Ph.D. dissertation","author":"Lipkin, H.","year":"1985"},{"key":"atypb10","volume-title":"Proceedings RoManSy'84: 5th CISM-IFToMM Sym","author":"Lipkin, H."},{"key":"atypb11","volume-title":"Instantaneous kinematics and joint displacement analysis of fully-parallel robotic devices. Ph.D. dissertation","author":"Maher, G.M.","year":"1983"},{"key":"atypb12","volume-title":"A direct determination of the instantaneous kinematics of fully-parallel robot manipulators","author":"Maher, G.M.","year":"1984"},{"key":"atypb13","volume-title":"Kinematic and force analysis of articulated hands. Ph.D. dissertation","author":"Salisbury, J.K.","year":"1982"},{"key":"atypb14","volume-title":"Linear Algebra with Applications","author":"Steven, J.L.","year":"1980"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254987"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499000900601","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499000900601","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:13:23Z","timestamp":1777457603000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499000900601"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,12]]},"references-count":15,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1990,12]]}},"alternative-id":["10.1177\/027836499000900601"],"URL":"https:\/\/doi.org\/10.1177\/027836499000900601","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,12]]}}}