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Find \\(u\\in C\\) such that  \\[ \\langle Mu-q,v \\rangle\\geq 0 \\quad \\forall v\\in T_C (u) \\]  where \\(C\\) is a nonempty closed subset of \\(\\mathbb{R}^n_+ \\), \\(M\\) is a copositive plus matrix of order \\(N\\) and \\(q\\) is fixed in \\(\\mathbb{R}^N\\). The robot hand grasping problem can be formulated as Problem P. This means that the theory presented here is devoted to the study of the corresponding equilibrium problem of a system composed of an object and a robotic hand with nonmonotone adhesive effects and nonclassical friction effects.   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