Résumé Many manipulations in human everyday activities rely on the collaboration of our
two hands. Bimanual fine manipulation tasks are particularly demanding as precise
coordination among fingers of both hands is required. Yet, despite the abundant degrees of
freedom (DoFs) need to be controlled, humans can perform such tasks nearly effortlessly.
Ample evidence suggests that the human central nervous system (CNS) predetermines
hand poses that are compatible with task conditions (eg task objective, physical properties of …

Many manipulations in human everyday activities rely on the collaboration of our two hands.
Bimanual fine manipulation tasks are particularly demanding when precise coordination
among fingers of both hands are required. Yet, despite the abundant degrees of freedom
(DoFs) that need to be controlled, humans can perform such tasks nearly effortlessly. Ample
evidence suggests that the central nervous system (CNS) predetermines hand poses that
are compatible with task conditions prior to manipulation. However, the mechanism by which …