Abstract: This work intends to contribute to the development of autonomous dexterous robotic hands by presenting an approach to describe the mechanisms underlying the human strategies during the execution of in-hand manipulation tasks. The work proposes a symbolic description of the in-hand manipulation tasks. The in-hand manipulation tasks are demonstrated by a subject wearing an instrumented glove with a tactile sensing array on the palm and fingers region. The description of the manipulation movement consists on a sequence of hand contact states primi...
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