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We present an interactive physics-based motion synthesis technique for creating hand manipulation across a wide variety of tasks, objects, user interventions, and stylistic preferences. Given an object being manipulated, a single pose specifying the desired initial contact, and the kinematic goals of the manipulation, our algorithm automat- ically generates hand-object manipulation that is responsive to unscripted external disturbances. Our algorithm simulates the dynamic coupling between adoi:10.2312/sca/sca08/163-171 fatcat:vwjv7ifjhzg3zj5eryf3x46ytu