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Grasp modelling with a biomechanical model of the hand:

Sancho-Bru, Joaquín L. ; Mora, Marta C. ; León, Beatriz E....
Computer Methods in Biomechanics and Biomedical Engineering.  17 (2012)  4 - p. 297-310 , 2012
Link: https://doi.org/10.1080/10255842.2012.682156