Teaching robots to manipulate objects with humanlike dexterity has long been one of robotics' toughest challenges. Tasks such as rotating an object in-hand or coordinating two robot arms to maneuver a bulky item require constant changes in contact, grip, and motion, skills that are difficult both to program and to demonstrate through human teleoperation.

When a person loses a limb, a prosthesis often can help restore a significant degree of mobility. But