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Grasping-force optimization of multifingered robotic hands can be formulated as a problem for minimizing an objective function subject to form-closure constraints and balance constraints of external force. This paper presents a novel recurrent neural network for real-time dextrous hand-grasping force optimization. The proposed neural network is shown to be globally convergent to the optimal grasping force. Compared with existing approaches to grasping-force optimization, the proposeddoi:10.1109/tra.2004.824946 fatcat:uh6a45fyyjb3nkolghde3fqrui