Whole-Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts to Increase Dexterity

It is a common observation that the human hand performs various manipulation tasks using not only its fingertips, but all the surfaces available for contact, i.e. intermediate phalanges and the palm. In the first part of this paper some such whole-hand operations are discussed, relating to different domains of fine manipulation such as grasping, exploration and micromotion of objects.

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