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In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomorphic device during in-hand manipulation to produce desired displacements of selected control points on the object. The desired motions of the fingers are computed in real-time as an inverse solution of a Finite Element Method (FEM), the forces applied by the fingertipsdoi:10.1109/iros.2018.8593512 dblp:conf/iros/FicucielloMCPD18 fatcat:4genukc32jbidcpyei6vsgm3ya