During the last two months  we focused on the following aspects.

• Mapping  algorithms  with the DLR-HIT  II hand.  In particular we implemented joint to joint  mapping,  while fingertip  mapping  and  the  proposed  virtual  sphere  mapping  are ongoing activities.

•  Calibration and  tests  of the  sensorized  object.   In the  current  version the  system  can acquire the contact  force vector and position on any surface of the object.