...................................................................................................................... iii Preface........................................................................................................................... v Acknowledgments................................................................................................... vii

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the man...