Optimal Grasping posture minimizing contact forces

Because my hands are small, I cannot usually grasp up a large ball by the single hand. However, selecting the direction, i.e., the hand posture, I occasionally accomplish this. This means that there is the optimal posture to grasp the object that facilitates the grasping. Focusing on the minimization of the grasping force, we discuss the grasping posture in this study.

Papers

Optimal Direction of Grasped Object Minimizing Contact Forces
Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 1588-1593 (2006)
Satoshi Ito, Yuuki Mizukoshi, Koji Ishihara, Minoru Sasaki

Numerical Analysis for Optimal Posture of Circular Object Grasped with Frictions
Proc. of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 1545-1550 (2007)
Satoshi Ito, Yuuki Mizukoshi, Minoru Sasaki

The optimal object posture that minimizes contact forces in grasping
Journal of the Franklin Institute , Vol. 346 , No. 10 , pp. 969-979 (2009)
Satoshi Ito, Yuuki Mizukoshi, Koji Ishihara, Minoru Sasaki

Object orientation in two dimensional grasp with friction towards minimization of gripping power
Biological Cybernetics , Vol. 101 , No. 3 , pp. 215-226 (2009)
Satoshi Ito, Shouta Takeuchi, Minoru Sasaki

A diagram of the minimum necessary internal force required to resist external forces on two-point-grasped objects in two-dimensional space
Robotica , Vol. 30 , pp. 857-864 (2012)
Satoshi Ito, Kohta Tanaka, Minoru Sasaki