On force and form closure for multiple finger grasps

This paper considers the relationship between force and form closure. Based on a previously developed mobility theory, the authors give precise definitions for 1/sup st/ and 2/sup nd/ order form closure for frictionless grasps. The authors also introduce the new concept of 2/sup nd/ order force closure. The authors show for the case of frictionless contacts, a grasp is 1/sup st/ order force closure if and only if it is 1/sup st/ order form closure. The authors further show that a grasp is 2/sup nd/ order force closure if and only if it is also 2/sup nd/ order form closure.