A primary objective in the field of robotic manipulation is to equip robots with dexterity and compliance akin to human abilities, particularly for a variety of everyday tasks. Recent years have seen numerous efforts directed towards this aim. However, several challenges remain unresolved, notably in the areas of grasping and manipulating objects using robots with multiple fingers. A significant development, as presented in the paper "Multifingered Robot Hand Compliant Manipulation Based on Visi