Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A general formulation of the force distribution equations for three-dimensional por grasp is presented. It allows for any number of contacts on the finger surfaces and the palm. The formulation not only includes the active forces and moments applied at the contacts, but also the passive forces resulting from frictional and geometric constraints, such as dging effects. A grasp matrix is developed for the por grasp case and a new approach is taken to define the hand Jacobian matrix. Contact conditions are modeled to consider both constrained and unconstrained directions for the forces. A stability analysis for por grasp is performed in order to evaluate its stability properties. Due to the inherently stable nature of por grasps, the main objective is not the determination of optimum contact locations, but is the determination of joint torques for optimum force distribution. The stability region is defined and used as a measure to study and compare the different stability aspects of por grasps. Results of stability analysis for por grasps, using the DIGITS Grasping System as a model, are also provided. >
['Khalid Mirza', 'Grin D']
I am writing a research paper on a idea General formulation for force distribution in power grasp
[{"from": "human", "value": "I am writing a research paper on a idea General formulation for force distribution in power grasp"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A general formulation of the force distribution equations for three-dimensional por grasp is presented. It allows for any number of contacts on the finger surfaces and the palm. The formulation not only includes the active forces and moments applied at the contacts, but also the passive forces resulting from frictional and geometric constraints, such as dging effects. A grasp matrix is developed for the por grasp case and a new approach is taken to define the hand Jacobian matrix. Contact conditions are modeled to consider both constrained and unconstrained directions for the forces. A stability analysis for por grasp is performed in order to evaluate its stability properties. Due to the inherently stable nature of por grasps, the main objective is not the determination of optimum contact locations, but is the determination of joint torques for optimum force distribution. The stability region is defined and used as a measure to study and compare the different stability aspects of por grasps. Results of stability analysis for por grasps, using the DIGITS Grasping System as a model, are also provided. >"}]