Consideration of Dynamic Stability of Hand and Object in Grasping

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This paper aims at surface of the hand and force field between objects for the hand that changes posture while holding the object for the hand, consist of five fingers and palms, and it aims to propose the method of doing the approximation presumption in real time, and to find the dynamic stability relation between the force field and the object shape of a dynamic holding. A digital hand that enabled the object holding in the collision space was developed, and the method to observe the force field between objects was developed. The finding concerning dynamic stability when this was used, and the object was operated dynamically was obtained.