A general formulation for the mechanics of the grasp with elastic multi-articulated fingers is presented. A procedure utilizing linear programming is given for computing a unique solution for the normal forces as well as the frictional forces and moments at the contact areas which insures stability of the grasp at the considered configuration. The procedure is particularly useful when the deformation or precision movement of the grasped object is of importance. An efficient optimization algorithm is also given to determine the best grasping configuration for any shape object undergoing any task using end effectors with any number of fingers.

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