In this paper, the authors proposed a novel reactive

strategy to solve a unknown object local manipulation problem

with an multifingered robot hand. In this method, the micro

manipulation assumption is proposed and the object can be

manipulated within the robot hand workspace without the active

and explicit controlling about the rolling and sliding of the

fingertips on the object. A 6 D.O.F reactive controller based on

the hybrid of the contact force and the contact position feedback

is developed. A three layer hierarchical control structure is

employed to implement this manipulation strategy. The simulation

experiment is run based on the physics engine-Vortex, to show the

feasibility of this method.