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To meet the dexterous manipulation needs of future missions, NASA is developing Robonaut, an astronaut-sized robot with two arms, two five-fingered hands, a head and a torso. Robonaut is advancing the state of the art in anthropomorphic robotic systems, dexterous robotic hands, modular robotic systems components and telepresence control systems.
Ambrose et al. (2000) studied this question.