To assist humans during their day-to-day activities and successfully complete domestic chores, robots should be able to effectively manipulate the objects we use every day, including utensils and cleaning equipment. Some objects, however, are difficult to grasp and handle for robotic hands, due to their shape, flexibility, or other characteristics.To assist humans during their day-to-day activities and successfully complete domestic chores, robots should be able to effectively manipulate the objects we use every day, including utensils and cleaning equipment. Some objects, however, are difficult to grasp and handle for robotic hands, due to their shape, flexibility, or other characteristics.[#item_full_content]