Parallel-Distributed Model Deformation in the Fingertips for Stable Grasping and Object Manipulation

<table>Convergence of <svg height="11.425" id="M345" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 22.5625 11.425" width="22.5625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,0,0,-.017,.062,11.363)"><path d="M600 0h-557v24l268 633l28 8l261 -641v-24zM497 50l-194 489l-196 -489h390z" id="x394"></path></g><g transform="matrix(.017,0,0,-.017,10.959,11.363)"><path d="M667 650l-9 -28q-53 -5 -76 -17t-64 -59q-51 -61 -175 -225q-21 -29 -27 -55l-27 -136q-13 -65 -0.5 -80t83.5 -22l-7 -28h-280l8 28q64 4 81 19t30 83l25 128q6 35 -7 65l-98 231q-17 41 -32.5 52t-68.5 16l8 28h252l-6 -28l-40 -4q-27 -3 -33 -12.5t2 -31.5
q8 -26 43 -107.5t61 -134.5q114 145 174 240q14 24 8 33t-37 13l-34 4l8 28h238z" id="x1D44C"></path></g>
</svg> considering different initial conditions.</table>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Parallel-Distributed Model Deformation in the Fingertips for Stable Grasping and Object Manipulation 