Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published May 1994 | Published
Book Section - Chapter Open

Mobility of bodies in contact - I: A new 2nd order mobility index for multiple-finger grasps


Using a configuration-space approach, this paper develops a coordinate invariant 2nd order mobility index for a body, B, in frictionless contact with finger bodies A_1, ..., A_k. The index captures the inherent mobility of B in an equilibrium grasp due to 2nd order, or surface curvature, effects. It differentiates between grasps which are deemed equivalent by the classical 1st order theories, but are physically different. In a companion paper we discuss applications and provide physical justification for using 2nd order immobility effects.

Additional Information

© 1994 IEEE.

Attached Files

Published - 00350938.pdf


Files (713.1 kB)
Name Size Download all
713.1 kB Preview Download

Additional details

August 20, 2023
August 20, 2023