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The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand.<\/jats:p>","DOI":"10.1115\/1.4033291","type":"journal-article","created":{"date-parts":[[2016,4,4]],"date-time":"2016-04-04T22:30:46Z","timestamp":1459809046000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":2,"title":["Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System"],"prefix":"10.1115","volume":"16","author":[{"given":"Jean-Claude","family":"Leon","sequence":"first","affiliation":[{"name":"Inria, Grenoble University, Grenoble 38000, France e-mail:"}]},{"given":"Thomas","family":"Dupeux","sequence":"additional","affiliation":[{"name":"Inria, Grenoble 38000, France e-mail:"}]},{"given":"Jean-R\u00e9my","family":"Chardonnet","sequence":"additional","affiliation":[{"name":"Arts et M\u00e9tiers ParisTech, Chalon-sur-Sa\u00f4ne 71100, France e-mail:"}]},{"given":"J\u00e9r\u00f4me","family":"Perret","sequence":"additional","affiliation":[{"name":"Haption, Laval 53000, France e-mail:"}]}],"member":"33","published-online":{"date-parts":[[2016,6,30]]},"reference":[{"issue":"2","key":"2019100600453509400_bib1","doi-asserted-by":"publisher","first-page":"625","DOI":"10.1016\/S0007-8506(07)63249-1","article-title":"Design for Assembly and Disassembly","volume":"41","year":"1992","journal-title":"Ann. 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