What makes a hand dexterous?

Holding an object is one thing. Changing your grip while using it is another.

Start with an everyday task

Think about picking up a pen, turning it into a writing position, and keeping the tip on the page. Those are different tasks. A robot needs suitable mechanics, sensing and control to do them reliably.

Shape is only part of the story

Five fingers can help with some objects. A simpler gripper can be the better tool for a repetitive job. Ask what the complete system can repeat, with which objects and under which conditions.

Try this without a robot

Watch a demonstration and write down each action: approach, make contact, grasp, move, change grip and release. Which step looks hardest? Bring that question to the community.