Key points are not available for this paper at this time.
This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps finds in dependent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A force- closure grasp implies equilibrium grasps exist. In the reverse direction, we show that most nonmarginal equilibrium grasps are force-closure grasps.
Văn Đức Nguyễn (Wed,) studied this question.