虛反矩陣法爲求機械手指之施力分佈的主要方法，本文將先介紹此法之數學意義。力域法及速度域法爲常用之另兩種方法，其本身之意義及和虛反矩陣法之關聯將予以比較及解說。當各接觸點之彈性係數皆相等時，可證明以力域法求得之施力分佈和以速度域法求得之解將相同。如何將施力分解爲平衡力及交互力兩分量亦予以介紹並畢例說明。
The pseudoinverse method is used to solve underdetermined problems and suggested to find the distributed forces for multifingered systems. The mathematical meaning of this method will be reviewed first. Two other methods, force field method and velocity field method, used to solve distributed forces are explained and compared. Furthermore, these two methods can also be related to the pseudoinverse method. The distributed forces solved by using both field methods have been proved to be the same only when values of stiffness are the same among all contact points. The way to decompose the contact forces into equilibrium force and interaction force is introduced, An example is also given for illustration.
