ABSTRACT
In our “macroscale” world, physical manipulation of objects using tools has been the cornerstone of technological progress for thousands of years. For humans, the ability to grip-to apply force through independent movement of the opposing thumbplays a key role in on our ability to manipulate quickly and precisely a vast range of different objects of different size, shape, and materials. Machines grip and release objects in factories everywhere; more than a million industrial robots are currently in use worldwide.
