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Presence and importance of robots in human centered environment have grown significantly in recent years. For example, there are various ongoing as well as successfully completed projects, where the robots are expected to have different roles, such as cooperative partner [11], co-worker [12], companion and health care assistant [13], with dexterous manipulation capabilities to be well fitting in everyday human environment [10], to perform human-level manipulation tasks [5], etc. One of the common requirements of all such robots is to perform tasks in the human shared workspace. This is where the notion of dexterous manipulation becomes more prominent, because most of the times: (i) objects are designed to be used by human, hence the robot needs human like grasping and carrying capabilities, (ii) such tasks require manipulation of objects for the human partner or in human presence, therefore the robot needs to reason from the human perspective. In Ref. [7], an overview and the requirements of dexterous manipulation have been presented in an objectcentered manner. Therefore, the presented control architecture mainly focuses on grasp. In Ref. [3], a handcentric dexterous manipulation taxonomy has been presented, which can be used to identify a manipulation strategy for executing a certain task. However, with the significant elevation of interest in the domain of humanrobot interaction and socially intelligent robots, now

Ingredients and a Framework of Dexterous Manipulation Skills for Robots in Human Centered Environment and HRI