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. Author manuscript; available in PMC: 2013 Jan 16.
Published in final edited form as: IEEE Trans Robot. 2012 May 22;28(4):958–966. doi: 10.1109/TRO.2012.2196189

Fig. 8.

Fig. 8

Histogram of grasp quality values from Monte Carlo simulations for two-finger grasp, 2N and N + 1 designs. The N + 1 topologies exceeding the baseline 2N topology are shaded gray.