{'fraction_non_alphanumeric': 0.0166073546856465, 'fraction_numerical': 0.0, 'mean_word_length': 5.071942446043166, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Analysis of Multifingered Hands

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.