The DOI matches its Crossref record.
Analysis of Multifingered Hands
Abstract
This paper discusses three fundamental problems relating to grasping and manipulating objects within an articulated, multifingered hand: determining how hard to squeeze an ob ject in order to ensure a secure grasp, determining the finger- joint motions required to produce a desired motion of the object, and determining the workspace of the hand. Squeezing the object, or the application of internal grasp forces, is reduced to a linear programming problem which considers friction and joint torque limit constraints. The relationship between the finger-joint motions and the motion of the object, for the case of pure rolling between the finger tips and the object, is formulated as a set of differential equa tions. The total workspace for a hand is determinedfor spe cial cases of planar and spatial hands.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
Smooth Vertical Surface Climbing With Directional Adhesion
Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Santos, D., & Cutkosky, M. R. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2007.909786 · Cited by 661
An overview of dexterous manipulation
Okamura, A. M., Smaby, N., & Cutkosky, M. R. (2002) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844067 · Cited by 466
Tactile sensing and control of robotic manipulation
Howe, R. D. (1993) · Advanced Robotics · doi:10.1163/156855394x00356 · Cited by 305
Metadata
- Authors
- Kerr, J., & Roth, B.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1986-01
- Volume
- 4
- Issue
- 4
- Pages
- 3-17
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2115659120
- Cited by
- 897
- References
- 0
- FWCI
- 32.69
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Analysis of Multifingered Hands. https://app.cochat.ai/papers/10.1177/027836498600400401
- The paper
- Kerr, J., & Roth, B. (1986). Analysis of Multifingered Hands. The International Journal of Robotics Research. https://doi.org/10.1177/027836498600400401
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
