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Robust manipulation with a dexterous robot hand is a grand challenge of robotics. Impressive levels of dexterity can be achieved through teleoperation. However, teleoperation devices such as a glove or force reflecting master-slave system can be expensive and can tie the robot down to a restricted workspace. We observe that inexpensive and widely available multi-touch interfaces can achieve excellent performance for a large range of telemanipulation tasks, making dexterous robotdoi:10.1109/humanoids.2012.6651531 dblp:conf/humanoids/TohHLBZP12 fatcat:4dh3h54nl5agvbmlezczohnla4