  The human hand is an immensely sophisticated tool adept at manipulating and
grasping objects of unknown characteristics. Its capability lies in perceiving
interaction dynamics through touch and adjusting contact force direction and
magnitude to ensure successful manipulation. Despite advancements in control
algorithms, sensing technologies, compliance integration, and ongoing research,
precise finger force control for dexterous manipulation using tactile sensing
remains relatively unexplored.In this work, we explore the challenges related
to individual finger contact force control and propose a method for directing
such forces perceived through tactile sensing. The proposed method is evaluated
using an Allegro hand with Xela tactile sensors. Results are presented and
discussed, alongside consideration for potential future improvements.
