In this paper we study a strategy for dexterous ma- nipulation which we call finger tracking. We show how the paradigm of finger tracking may be used to con- trol the fingers of a robot hand to generate rotational motions of the grasped object. In particular, the hand can maintain planar rotational motions. This provides for a simple primitive for high-level, task-directed al- gorithms, towards releiving users from the complexity of low level manipulation control.
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