“…Grip force is better represented this way, since contact force varies over the surface of a grasped object (Aldien et al, 2005;Amis, 1987;Fellows and Freivalds, 1989;Gurram et al, 1993;Gurram et al, 1995;Hall, 1997;Kinoshita et al, 1996;Kong and Lowe, 2005;Lee and Rim, 1991;Radhakrishnan and Nagaravindra, 1993;Yun et al, 1992). Third, each contact segment can have a different friction coefficient depending on material (Nagashima and Konz, 1986), surface texture (Bobjer et al, 1993;O'Meara and Smith, 2001), and normal force (Bobjer et al, 1993;Buchholz et al, 1988;Bullinger et al, 1979;Comaish and Bottoms, 1971;Seo et al, 2005).…”