Multifinger Caging Using Dispersion Constraints.

An object is caged by a formation of fingers when it is blocked by the fingers from moving arbitrarily far away. Although some objects such as those with opposing concave sections can be caged by only two fingers, many other objects require at least three. Rectangles and 3-D convex objects without a supporting plane, for example, require at least four. This paper focuses on multifinger squeezing c...