Bimanual Coordination and Hand Dexterity

This lecture discusses the role of frequency ratio in bimanual coordination, highlighting that the frequency content is similar for both hands. It also explores the design principles behind a dexterous hand with 16 independently actuated degrees of freedom, emphasizing the importance of geometry in grasping and the complexity of tracking performance. The session concludes with insights on learning rates in novel tasks and the challenges of minimizing effort in hand movements.