# Spherical Hands: Toward Underactuated, In-Hand Manipulation Invariant to Object Size and Grasp Location

> Research article (Journal of Mechanisms and Robotics, 2016) · cited 36× · AI/ML

**Wikidata**: [openalex:W2511679095](https://www.wikidata.org/wiki/openalex:W2511679095)  
**Source**: https://4ort.xyz/entity/spherical-hands-toward-underactuated-in-hand-manipulation-invariant-to-object-size-and-grasp-location