Formulates the force distribution for soft multi-fingered hands as choosing a suitable internal force such that the total contact force satisfies the frictional constraints. As a first step, the direction of the optimal internal force is defined based on the grasp locations. Implementation of the algorithm is divided into two phases: (1) determine the direction of the internal force during grasp planning; (2) determine the magnitude of the internal force during task manipulation. The total computation cost consists of off-line numerical iterations and online analytical computations. Only the latter is related to the real-time control. An example shows that the proposed algorithm can efficiently deal with the soft frictional constraints and well overcome the temporal discontinuity.
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