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In statistics, scale analysis is a set of methods to analyze survey data, in which responses to questions are combined to measure a latent variable. These items can be dichotomous (e.g. yes/no, agree/disagree, correct/incorrect) or polytomous (e.g. disagree strongly/disagree/neutral/agree/agree strongly). Any measurement for such data is required to be reliable, valid, and homogeneous with comparable results over different studies. On the other hand, robot hand grasps have been extensively studied for years. Although until little attention was paid to human hand grasping, this too has become a hot topic in robotics. The experience in modelling the robot hand grasps has been used to reach a better understanding of human grasping (Miller & Allen, ; Peña-Pitarch, ). The hand is considered as the end-effector for humans.  These contacts are the starting point for grasp analysis and dexterous manipulation methods. Some approaches give only information about the finger contact locations on the object without considering the hand constraints. They can result in stable grasps that are not reachable in practice by the robot hand. The grasp force in power grasps is not necessarily determined uniquely by joint torques when Coulomb friction is assumed in the contact points between a grasped object and finger links. This paper analyzes the indeterminate grasp force with their rigid body models. This paper shows that contact sliding directions are constrained in power grasps. The frictional force acts only in the opposite direction of sliding. This characteristic of friction restricts the grasp force in power grasps although it is indeterminate in general. First the authors show an example to illustrate this restriction imp.

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