Key points are not available for this paper at this time.
An analysis was performed of controlled slipping of an object within a robot hand. The possible ways an object can move within a grasp were enumerated. The set of permissible motions was found as a function of the constraint state, that is, the number, location, and types of contact on an object. The constraint state was found as a function of a number of controllable variables, such as grasping force and externally applied forces.>
David L. Brock (Mon,) studied this question.