The analytic expression of the fingertip gesture is deduced when the fingertips clamp the object with random postures at a gripping point, and the clamping dexterity is defined with the pose sphere.

推导了指尖在夹持点对处于任意姿态的物体进行夹持时所需姿态的解析表达式，并借助姿态球给出了夹持灵活度的定义。

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