Manipulation with three fingers in frictional contact is known to be an underspecified problem. The minimum norm solution, also referred to as the equilibrating solution field, can be modified by superimposing a linear combination of the resulting null solutions, called the interaction force field. The modification proposed here, applicable to the three-dimensional problem, minimizes the maximum value of the friction angle at the points of contract. A grasp of maximum possible stability under a set of contact and loading conditions is hence achieved.

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