The ability to manipulate deformable objects, such as textiles or

paper, is a major prerequisite to bringing the capabilities of

articulated robot hands closer to the level of manual intelligence

exhibited by humans. We concentrate on the manipulation of paper,

which affords us a rich interaction domain that has not yet been

solved for anthropomorphic robot hands. Robust tracking and

physically plausible modeling of the paper as well as feedback based

robot control are crucial components for this task. This paper makes

two novel contributions to this area. The first concerns real-time

modeling and visual tracking. Our technique not only models the

bending of a sheet of paper, but also paper crease lines which

allows us to monitor deformations. The second contribution concerns

enabling an anthropomorphic robot to fold paper, and is accomplished

by introducing a set of tactile- and vision-based closed loop