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By P Lotz

With the recent increase in environmental awareness, gold mining companies are fast becoming signatories of the International Cyanide Management Code (ICMI, 2007). The objective of the Code is to improve the management of cyanide used in gold mining and to assist in the protection of human health and the reduction of environmental impacts associated with the use of cyanide. In particular the code specifies the following cyanide concentration limits: 50 ppm WAD cyanide in a tailings storage facility, 0.5 ppm WAD cyanide for effluents, and 0.022 ppm free cyanide or 0.022 ppm WAD cyanide as surrogate in the post mixing zone of river discharge. Weak acid dissociable (WAD) cyanide refers to those cyanide species liberated at a moderate pH of 4.5, such as HCN(aq) and CN-, and the majority of Zn, Cd, Cu, Ni and Ag complexes with low dissociation constants. It is potentially toxic to humans and animals. Gold plants using cyanide should ideally measure WAD cyanide online and destroy WAD cyanide in excess of the applicable limits to ensure compliance with the Code. Mintek has recently developed an online WAD cyanide analyser (WAD Cynoprobe). The WAD cyanide analysis technique is based on the use of a ligand exchange reagent that liberates WAD cyanide bound to metals such as Zn, Cd, Cu, Ni and Ag. The ligand exchange reaction is represented by the following chemical equation: Metal(CN)X + yLigand ↔ Metal(Ligand)y + xCN- The plant filtrate is treated with a ligand exchange reagent, to liberate WAD cyanide, before measuring the free cyanide concentration via amperometry. The WAD Cynoprobe measures both free and WAD cyanide concentration. Its fast analysis time, approximately five minutes, makes it suitable for use in the control and optimisation of the cyanide destruction and recovery process. The instrument has proven accurate and reliable in the analysis of synthetic copper, nickel and zinc cyanide solutions made up in the laboratory as well as under industrial gold plant conditions during various trials. The WAD Cynoprobe has gained widespread commercial acceptance and is currently implemented on nine gold plants around the world.

Jan 1, 2007

By Stephen R. Grano, Jon Glatthaar, Philippe Steinier, Christopher J. Greet

"The importance of the oxygen content of sulphide mineral pulps in determining which reactions occur, and their subsequent influence on flotation behaviour is grossly underestimated in most operating concentrators. While pH is routinely monitored, Eh and dissolved oxygen measurements are obtained infrequently. However, dissolved oxygen measurements in conjunction with other pulp chemical parameters (i.e. pH, Eh, and EDTA extractable metal ion analysis), can provide valuable insight into where and what type of reactions are occurring within a circuit. Unfortunately, these readings yield “instantaneous” measurements of the pulp chemical parameters.What is needed is a means of establishing how reactive a pulp is, and how this reactivity changes as components of the system are manipulated. Oxygen demand provides an opportunity to do this. Several attempts at measuring the oxygen demand of a pulp have been made in the past with varying degrees of success. Most notable among these are Noranda and BOC Gases.Learning from these experiences, Magotteaux have developed the MagO2 ® demand vessel to measure the oxygen demand of mineral pulps. This paper described the apparatus, and through a case study on Broken Hill lead/zinc ore demonstrates how the MagO2 ® demand vessel is used.INTRODUCTIONThe role of oxygen in flotation is complex. While a considerable body of work exists demonstrating the strong involvement of oxygen in the interactions between sulphide minerals and collector (Gaudin and Finkelstein, 1965; Gaudin, 1974; Woods, 1984; Laajalehto, Nowak and Suoninen, 1993), the presence of oxygen can also affect the oxidation state of sulphide and non-sulphide minerals, which can impact on their flotation behaviour. Further, sulphide mineral oxidation is related to their oxygen demand (Spira and Rosenblum, 1994)."

Jan 1, 2004

By J. M. Somers

Methane is a powerful greenhouse gas and the principal component of natural gas. Coal seams often contain significant quantities of methane, and underground coal mines must ensure that methane released into the mine during coal extraction does not build to dangerous levels. This is accomplished in part through the use of large-volume ventilation systems that remove methane from the mine and release it to the atmosphere. Although the methane concentration exhausted is quite low (typically <1 percent), the volume of air that ventilation systems move is so great that they actually constitute the largest source of methane emissions from underground coal mines. Each year underground coal mines throughout the world emit more than 500 billion cubic feet of methane from their ventilation systems. An air pollution control technology, thermal oxidation using a flow-reversal reactor (TFRR), has emerged as a potential solution to ventilation air methane (VAM) emission mitigation. One manufacturer of TFRRs has demonstrated its oxidizer design (the VOCSIDIZER?) at coal mines in the United Kingdom and Australia. These demonstrations tested the technology?s effectiveness at oxidizing low-concentration methane, as well as its ability to tap the excess heat to produce steam for electric power generation. In early 2007, the first U.S. demonstration of this technology began operation at an abandoned mine in West Virginia. The project is designed to prove the technology?s operational robustness, its ability to reliably oxidize methane at concentrations typical of mine exhausts, and its safety. If the technology is employed at active underground coal mines, it offers the potential to mitigate substantial quantities of global methane emissions. This paper discusses global VAM emissions, options for the recovery and utilization of VAM, and existing projects such as WestVAMP in Australia and the ongoing U.S. VAM demonstration project.

Jan 1, 2009

Efficacy of Enhanced Gravity Separator in Processing Indian Iron Ore Slime The slime sample was subjected to concentration using Falcon concentrator for their enrichment. The effects of three important variables, eg bowl rotation frequency, back water flow rate and per cent solid were studied on the process performance. Increasing the rotation of the Falcon bowl, enable more material to the underflow by increasing the yield, whereas, the iron content decreases steadily with increasing the rotation of the bowl. The increase in the back water flow effectively removes the clay materials from the underflow at the expense of the yield. Similarly, increasing the per cent solid concentration in the feed produces a better product both in terms of yield and Fe content. Results show that EGS/Falcon can be used for processing Indian iron ore slime and producing pellet grade concentrate.

Sep 13, 2010

By T. McKeon, G. Luttrell

Spiral separators are commonly used to upgrade sand-sized particles in both the coal and mineral processing industries. Many plants utilize multiple stages of cleaning and/or scavenging spirals to improve recovery and/or final product grade. Field studies suggest, however, that the layout of industrial spiral circuits is often less than optimal. This oversight can usually be attributed to a failure by plant designers to consider fundamental process engineering rules that govern the layout of complex separation circuits. This article reviews some of these important rules as specifically applied to multistage spiral circuit design. Two industrial case studies, one involving the upgrading of heavy mineral sands and a second involving the cleaning of fine coal, are presented to illustrate the impact of good design protocols on spiral circuit performance.

Jan 1, 2007

By M. Veiga

"Mining is an energy and water intensive activity. Increasing energy efficiency and reducing water consumption are two of the key requirements in moving toward a more sustainable mining industry. Water reduction, reuse and recycle options are reviewed, identifying cases where these options have been implemented. Then a novel mine water network design method is described, which analyzes a mine/mill water system in order to identify areas where water requirements and water system energy requirements can be reduced. First, a site water balance is determined and major water consumers and sources are specified. Next, multiple possible combinations of supplying water to mine and mill consumers are compared. Finally, low energy and water combinations are identified.INTRODUCTIONMining consumes vast quantities of energy: The whole mining and metals sector consumes over 12% of the world’s energy (DOE, 2009). Mining also requires large quantities of water, although mining water consumption is a relatively small portion of the overall world water use. Even in relatively dry, mining-intensive countries like Australia and South Africa, mine water consumption is only 2-3% of national water demand (Brown, 2003). However, at the local level, when mining takes place in areas where water is scarce, mine water consumption can severely impact local supplies. In addition, acid rock drainage, leaks from waste impoundments, or direct disposal of tailing into waterways can contaminate surface and groundwater (MMSD, 2002). Mine water systems can be large energy consumers, but better mine water systems can reduce both water and energy consumption. Improving water system design and practice are key strategic requirements in moving toward a more sustainable mining industry.This paper addresses conventional base-metal or precious-metal mine sites, which consist of an underground or open pit mine and a mineral processing plant, or mill. Ore is extracted and processed through the plant to produce a saleable product. Tailing, or waste material, is then deposited in a tailing storage facility (TSF). Any rock removed from the mine with no economic value, or waste rock, is stored without being processed."

Jan 1, 2010

By H. Lyn Bourne

This is the ninth annual tabulation of royalty information. Again this year, some of the older information has been deleted to make room for more than 30 new entries. Several articles and publications crossed the author&apos;s desk this past year that relate to mineral valuation and mineral royalty. Tom Loucks presented a paper, "The Valuation of Hard Rock Mineral Property," at the Rocky Mountain Mineral Law Foundation in Santa Fe, NM in July, 1990. His paper gives an indepth explanation of the definitions and concepts related to mineral valuation. It includes descriptions of numerous legal cases that have dealt with mineral valuation and proper reference is given for each case. Loucks works for the Denver Mining Finance Co. Gold royalties generally range from 5% to 7%, net smelter return. However, Severn Brown sent information that shows a much wider variation. Echo Bay Mines reported in its 1989 annual report royalties that range from 1.5 % to 30% for gold from various gold properties. Brown also sent a copy of an article that appeared in the Dec. 27, 1982, issue of Fortune magazine. This issue carried an article by Walter Guzzardi, Jr. "The Huge Find in Roy Ash&apos;s Backyard." The article gives the history of Newmont&apos;s leasing in Nevada on property that became the Carlin, Bootstrap and Blue Star Mines. The article states that the initial royalty was 10% that escalated to more than 16%. Another property, the site of Gold Quarry, provides an 18% royalty to the same own¬ers. The article makes interesting reading for those interested in mining history.

Jan 1, 1991

By G. H. Hope

"Pamour Porcupine Mines of Timmins, Ontario operates two 3,000 ton per day concentrators which receive ore from eight to ten mines in the area. The area milling concept was adopted by Pamour in 1971 and has been used successfully since then. The purpose of this paper is to discuss the advantages and the problems of area milling. Pamour Porcupine Mines Limited operates two 3,000 ton per day concentrators which receive ore from eight to ten mines in the Porcupine region. The area milling concept was adopted as the route to survival for Pamour and has worked successfully. HISTORICAL BACKGROUNDProduction of gold from the Porcupine region in Northern Ontario started in the early 1900's and has been continuous since that time. Some of the major operators were companies such as Mcintyre, Hollinger, Dome, Pamour, Paymaster and the list goes on. An underground survey would reveal hundreds of miles of drifts and raises. The main group of mines extends from South East of Timmins to the Pamour Mine, 15 miles to the east. During the lean years of the sixties when gold prices were low, labour costs were rising rapidly, and ore grades were dropping, many of the area mines closed down their operations."

Jan 1, 1981

By L. Malmgren, A. Ansell

This paper deals with the influence from blast induced stress waves on the performance of shotcrete support in the Kiirunavaara mine. Time histories of stress waves from blasting were obtained from measurements during production blasts in the mine, followed by failure mapping. A finite element model, consisting of beam and spring elements, was used to calculate the shotcrete response to vibrations from blasting. The modelling approach was similar to that of a building during an earthquake, with accelerations measured in-situ used as loads. The analysis showed that the calculated adhesive stresses exceeded the strength in the interface between rock and shotcrete near to the blasted ring. It also indicated that tensile rock failure did occur. These types of failure will presumably result in ejection of joint defined rock blocks or rock slabs and will require a ductile support, such as fibre reinforced shotcrete. The predicted failure was confirmed by the mapping, which also showed that the zone of failed shotcrete was much larger in areas with plain shotcrete compared to areas with reinforced shotcrete. L’influence de l’onde de pression générée par les sautages à la mine de fer de Kiruna sur la performance du béton projeté est étudiée dans le présent article. Les ondes créées par les sautages ont été enregistrées et les domages résultants ont été cartographiés. La réponse du béton projeté aux vibrations de sautage est étudiée à l’aide d’un modèle d’éléments finis, constitué de poutres et de ressorts. L’approche est similaire à celle d’un immeuble subissant un tremblement de terre, avec les accélérations internes utilisées comme charges. L’analyse montre qu’à proximité des sautages, la contrainte adhésive dépasse la résistance de l’interface roche-béton. L’analyse confirme aussi l’existence de ruptures en tension. Ces types de rupture induisent probablement l’éjection des blocks définis par les structures du massif rocheux et requierent un support ductil, comme du béton projeté renforcé par exemple. Le type de rupture est confirmé par les observations de terrain, qui montrent aussi une extension plus importante des domages lorsque le béton projeté n’est pas renforcé. In diesem Konferenzbeitrag geht es um den Einfluss, der aus einer Sprengung hervorgerufenen Schwingungswellen auf die Ausführung der Spritzbetonverstärkung in dem Kiirunavaara Bergwerk. Die Aufzeichnungen der Schwingungswellen von Sprengungen gemäß einer Fehlerkartierung beziehen sich auf Messungen, die während der Sprengungen durchgeführt wurden. Ein Finite Elemente Modell, bestehend aus Stab- und Federelementen, wurde für die Berechnung der Spritzbetondeformation in Bezug auf die Schwingungen aus Sprengungen angewendet. Die Modellierungsmethode war ähnlich der eines Gebäudes während eines Erdbebens anhand der gemessenen Beschleunigungen vor Ort, die als Lasten benutzt wurden. Die Untersuchung hat gezeigt, dass die berechnete Haftspannung größer war als die Festigkeit in der Verbindung zwischen Gestein und Spritzbeton in der Nähe des Sprengungscentrums. Die Analyse hat gezeigt, dass die Zugfestigkeit des Gesteins versagte. Diese Arten von Versagen werden als Folge der Herausnahme von Gesteinsbrocken oder Gesteinsplatten erklärt und benötigen eine faserverstärkte Spritzbeton. Das vorausgesagte Versagen bestätigte sich beim Kartieren, welches auch zeigte, dass die Zone des versagenden Spritzbetons in Bereichen mit unverstärktem Spritzbeton viel größer war als in Bereichen mit armierten Spritzbeton.

Jan 1, 2003

By A. Whillier

The decisive action taken by mine managements in recent years has been the main factor in bringing about the present downward trend in mine fires. A better understanding of the fundamental factors that govern the ignition and spread of fires. obtained as a result of investigations into mine fires, has provided useful guidance to production personnel. Similar investigations into fire-fighting techniques have assisted the Rescue Training Service and mines to institute more effective fire-fighting techniques. Some of the more important findings of recent investigations in these areas are outlined.

Jan 1, 1981

By Emad Farouz

The resistance of very dense glacial outwash formations consisting of sand, gravel and cobble formations can be quite high, and techniques for measuring the strength and deformation properties often cause engineers to underestimate the strength of these layers in drilled shaft design. More realistic measurements of this dense formation can be achieved with slotted steel casing pressuremeter tests. To minimize disturbance and achieve accurate measurements, drilling a pilot hole prior to probe insertion is necessary. Characterizing geologic formations that contain significant amounts of gravel and cobbles is challenging because of scale factor. Inserting a standard pressuremeter probe into this formation without damaging the membrane is difficult. This paper presents a case study for the IR-75 project in Dayton, Ohio, USA, where these dense materials were characterized using a slotted casing pressuremeter, optimizing design by providing more realistic properties of these materials.

Jan 1, 2006

Enhancement of Energy Efficiency in Fine Grinding of Copper Sulfide Minerals Using a Pilot-Scale Stirred Media Mill - IsaMill The mineral liberation size of run of mine ores has dramatically reduced over recent years. As a result, the demand for fine grinding which is the most energy-intensive form of grinding has markedly increased in the minerals industry. Furthermore, the fine grinding costs increase exponentially with decreasing product particle size. As a result of the increased energy requirement for fine grinding, it is desirable to optimise fine grinding processes such as stirred media milling (ie IsaMill) to enhance energy efficiency, throughput and the product fineness. In the present study, the influence of slurry rheology, grinding media type and grinding media-to-feed size ratio on energy efficiency in a pilot-scale IsaMill was investigated under certain industrially relevant pulp processing conditions. It was shown that a critical rheological state existed, below which the energy required to achieve an 80 per cent passing (ie P80) 20 ¦m product size was unaffected by shear rheology (ie apparent viscosity and shear yield stress) whilst above which the grinding energy required increased dramatically with increasing shear rheology. Colorado River sand (3.35 mm) showed higher energy efficiency than MT1 ceramic media (2.5 mm) for a target P80 of 20 ¦m in the solids concentration range of 38 to 55 per cent by weight, but the former experienced more than four times the wear rate of the later. The high wear rate of the Colorado River sand may be due to its much lower hardness. For feeds with an 80 per cent passing (ie F80) 70 to 110 ¦m, 2.0 or 2.5 mm MT1 media appeared to be more energy efficient than 3.5 mm MT1 media whilst a media-to-feed size ratio of 41 to 53 is applicable for ~50 ¦m (ie F80) feeds for efficient grinding.

Sep 13, 2010

By H. Maleki

In this paper, long-term measurements in five underground mines are presented to demonstrate how these measurements can be applied to stability evaluations and design of underground excavations. These case studies address both the global aspects of strata response to mining activities as well local ground behavior and support loading. The measurements include static (stress and deformation) and geophysical. Case studies quantify pillar behavior, roof-floor deformation patterns, overburden response, and microseismic activities. Large-scale studies quantify the nonuniform nature of overburden deformation and collapse. Local measurements address yield and stable pillar load deformation characteristics, as well as the performance of support systems under combined axial and lateral loads.

Jan 1, 2002

By Dan Armour

Bolting solutions traditionally offered only wet drilling or dry drilling options; each with advantages and disadvantages. Joy Mining Machinery has developed a Mist Drilling System that incorporates the best of both types of drilling. Compared to wet drilling, mist drilling offers as much as a 90% reduction in water use. As a result, floor and roof conditions are tremendously improved. This offers a safer and more comfortable work environment for operators. Mist drilling can offer a significant reduction in noise levels compared to dry drilling and in recent trials, bit life has been greatly improved. Holes are cleaner and operators experience less exposure to respirable dust.

Jan 1, 2005

By Frank G. Wickert

One key to maintaining successful mining operations in today?s global economy is in having the ability to access real-time machine operating data ([1] G. Brown, B. Ebacher, W. Koellner,2000)([2] Brochure of Siemens E&A, Order Number 141000-1). With recent and ongoing advances in mining equipment systems it is imperative that mine managers have full knowledge of the status of their equipment at any given point in time. This knowledge is critical to ensuring that the productivity of each and every machine is maximized. Knowledge of machine status is only the first step, however, in controlling and optimizing a piece of mining equipment. Computer based diagnostic systems, traditionally offered on mining equipment, have provided a link for collecting data and trouble-shooting problems as they occur. One problem existed, though, that those systems stopped short of providing full drive systems access. A maintenance technician could see the data but to make critical adjustments or make repairs the technician needed to be on the machine. In extreme cases the machine would be down until OEM assistance could reach the mine site. The key then to reducing down-time and maximizing machine productivity was creating a system that could not only monitor drive systems but also provide remote access to those systems. Essentially a link needed to be created through which a technician could gain drive access remotely then make adjustments or repairs without being on the piece of equipment. This paper will introduce AccessDirectTM, a new remote diagnostic system for Bucyrus mining shovels and draglines. AccessDirectTM combines all three important elements of remote diagnostics: ? Vital Signs and Production Monitoring (SiRAS-M) ? Automatic analysis (SiRAS-A) of faults, and tracking of trends for preventive and reliability centered maintenance , and ? Fast, direct Intervention (SiRAS ? I) for troubleshooting support, repairs, and system optimization.

May 1, 2002

By P. J. Bhonde, R. D. Angal

Conventionally low carbon ferromanganese is manufactured globally by refining high carbon ferromanganese in liquid state. This process is an expensive and lengthy technique. Hence, the present work was undertaken with the objective of understanding the feasibility and kinetics of the solid state refining of ferromanganese. The process involved transformation of carbon rich carbides viz. Mn3C2, Mn7C3 into metal rich carbide i.e. Mn15C4, Mn23C6 by subjecting the alloy powder to a flowing stream of carbon dioxide. Effect of the process governing parameters such as time, temperature, particle size, pressure on the extent of decarburization was studied. Without any loss of manganese in the form of fumes or slag, it was observed that, there was substantial reduction, viz. 65 per cent in the total carbon content, by this technique. Subsequently, the process was investigated to find out the mechanism of carbon removal. Depending upon the temperature and the particle size, it was found that the rate controlling mechanism changes from chemical reaction control to product layer (ash) diffusion control. The activation energy for each of the aforesaid mechanism was computed. The values thus obtained substantiated the aforesaid mechanisms.

Jan 1, 2004

By F. N. Kissell

The machine-mounted continuous respirable dust monitor (MMCRDM) is a fixed-location area sampling device developed for possible use at the working face of an underground coal mine. This device, based on proprietary technology known as the tapered element oscillating microbalance, has evolved over the past eight years through a cooperative effort of the former Bureau of Mines, MSHA, and the Rupprecht & Patashnick Company in Albany, NY. The capability to measure respirable coal mine dust levels on a continuous basis, rather than depending solely on periodic samples obtained from the traditional coal mine dust samplers, has been a goal in the mining industry for nearly two decades. Recently, an extensive series of laboratory and underground tests was conducted by NIOSH with the cooperation of MSHA and coal operators to test the performance of the MMCRDM In preliminary laboratory testing, the MMCRDM seemed to work well. However, in every underground test, when compared to reference samplers placed close to the inlet, the MMCRDM failed to meet the 25% accuracy criterion specified in the contract under which it was developed. Two reasons explain this failure: First, in most tests the bias (the relative discrepancy between the average MMCRDM concentration and the average reference sampler concentration) was too great. Second, the variability of the samplers used for reference comparison was too large. Finally, the underground testing of the MMCRDMs showed that they are quite unreliable at this stage of development. In the majority of mine tests, no more than 10 shifts of data were taken before the MMCRDM failed to function properly. Major breakdowns, requiring the return of the MMCRDM to the factory for repairs, occurred on average every 28 days. To be considered mine-worthy, MMCRDM reliability must be substantially improved. KEYWORDS Dust, coal dust, dust instrumentation, dust sampling, dust monitoring, black lung, pneumoconiosis

By Christoph Mueller

Broad band mine communication traditionally is characterized mainly by individual solutions, which have in common their long development phases and their high cost for development, operation and service. The use of Ethernet and the TCP/IP family of standardized protocols provide an uniquely price efficient combination of high bandwidth open networking, universal use and accessibility of price efficient development tools, especially because it forms the technical infrastructure for the worldwide Internet. TCP/IP and Ethernet assures reliable networking however it is not able to guarantee the latency timing of forwarding network information. Therefore, the network design requires strict load limitation and application level traffic control especially if moving equipment has to be manually remotely controlled via the network. The paper discusses the technologies the application of Ethernet and WLAN in underground mining environments.

May 1, 2006

By H. N. Egan

Faced with a severe disposal problem of their fines from a coal mine in the heart of the Appalachian Mountains of extreme eastern Kentucky, Eastern Coal Corporation has built a special plant to pelletize the fines into high quality coal pellets meeting the requirements of the metallurgical market. These low-ash, low-sulfur pellets measuring 3/4 x 3/8 in. contain less than 1.5% moisture and have the same stability as raw coal of the same size. Although Eastern Coal is mining 6000 tpd, the company had, until recently, no provision to recover the fine coal which was included with the plant effluent pumped to a 12-acre refuse pond. The pond, impounded behind the coarse refuse dump, rose 15 ft last year and obviously no pond can stand many years at this rate. Limited pond space in this rugged area of steep hills and narrow valleys dictated a revised disposal method.

Jan 11, 1967

By Ren G. Dong, Thomas W. McDowell, John Z. Wu, Chris Warren, Dan E. Welcome, Chun L. Dong

Hand forces are important factors for risk assessment of hand-arm vibration syndrome (HAVS).1 Grip force is one of the most important force components in the operation of powered hand tools. A considerable number of studies on grip force have been reported. It is well known that the grip force applied on a cylindrical handle is not uniformly distributed on each axis across the center of the handle cross-section.2 Therefore, maximum and minimum orientations of grip force exist around the handle. Such orientations have not been clearly identified. In a recently proposed international standard (ISO/CD 15230, 2005),3 it is stated that “the direction of the main gripping force is generally parallel to the z-axis defined in ISO 8727.” 4 This assertion is questionable, and further examinations are required. The objective of this study was to establish a fundamental theory on the distribution of the grip force around cylindrical handles. Methods As shown in Fig. 1, the grip force is defined as a vector composed of normal and shear components (FN & FT) in this study. Fig. 2 shows the hand coordinate system defined in this study, together with the ISO systems.1,4 Based on this novel grip force definition, we derived four fundamental properties and a theorem. More significantly, we formulated a novel hypothesis: similar to Mohr’s circle of stress, the normal and shear components can be represented approximately using an ellipse on the plane of the two force coordinates, as shown in Fig. 3. The maximum and minimum grip normal forces are termed as the first principal grip force (F1) and the second principal grip normal force (F2), respectively. Their corresponding orientations are termed as the first principal grip angle (a1) and the second principal grip angle (a2). A series of experiments were conducted to test this hypothesis. Twelve

Jan 6, 2006