Appropriate Lengths Between Phalanges of Multijointed Fingers for Stable Grasping

n appropriate arrangement of finger joints is very important since the stability of grasping an obj :atly depends on that arrangement. Multijointed fingers can grasp an object with many points of conl :h of which is pressed against the object as if wrapping up that object. The amount of the wrapped up a d the form of the finger when an object is grasped are therefore important factors for determining bility of grasping. We propose the wrapping factor to be used for the evaluation of the stability of grasp using these factors. We consider twenty eight models for the finger having three joints, and perforr lulation of their ability to grasp various shapes stably. Based on the simulation results, an appropri •angement of lengths between phalanges for a multijointed finger is presented Table of