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This paper describes the handling of objects by artificial fingers, when they include some extra fingers which are not always needed in a simple gripping. Firstly, the number of controllable finger forces and the handling forces to manipulate objects are compared, and the redundancy of the finger control system is defined. Next when the redundant fingers are contained, there exists some freedom to select the finger forces which generate the same handling force. We derive the optimal solution of finger forces by using pseudo inverse matrices. Finally, the experiments verify the theoretical results and the utility of the redundant fingers to handle objects.

Prehension and Handling of Objects by Robot Hands with Redundant Fingers