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Article summary:

1. Current analytical models of grasping and manipulation with robotic hands have limitations in their application to manufacturing environments.

2. A study was conducted on the grasps used by machinists in a small batch manufacturing operation, resulting in the construction of a grasp taxonomy.

3. Comparisons between the grasp taxonomy, an expert system, and grasp-quality measures derived from analytic models showed that despite limitations, the analytic measures are useful for describing grasps in manufacturing tasks. The grasp taxonomy also provides insights for designing versatile robotic hands for manufacturing.

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