... with a 'thumb' opposing two or more 'fingers'. Some hands are tendon-driven [2, 13, 55, 81, 82] , and some powered by actuators in the hand unit itself [36, 77, 120 ]. Electric ... literature [22 , 72, 93, 97, 119, 127 , 128 , 1 32, 143]. and modeling of the situation is fairly well understood [28 , 46, 65, 67, 71, 131, 133, 135]. However, for the case of multi-fingered manipulation, ... evolve according to the following equations 6S -& quot ;- M-II(ICf + ~°)-I ( [ -wY ] -f~° [ vx ] vy (5.5) ¢ = + :rsMsus + ToMoUo (5,7) = o (5.8) In particular, if the bodies maintain rolling contact...