Optimization of power grasps for multiple objects

Power grasp is a grasp that can hold objects stably without changing the joint torques of fingers. Almost all studies on power grasp deal with one object, but it is more efficient to hold multiple objects at the same time. This paper derives a condition for power grasp for multiple objects, and defines an optimal power grasp from the viewpoint of decreasing the work of joint torques. Finally, we show some numerical examples to verify the validity of our approach.