I worked out some math computations for the grip of ball and found something interesting to report here.
If you have equation systems like this:
f(u,v,w…) == g(u,v,w) && … == || … ==
If you look for very exact match i.e. equal == for the case of hard finger tips and palm, the equations are difficult to solve.
|f(u,v,w…) - g(u,v,w)| < e && … < || … <
If you look for solutions to inequalities it seems that grasp systems of inequalities are solved much easier!
This means SOFT grasp contact which is same as system of inequalities are far easier to work into a hand.