  We present a novel method for the direct transfer of grasps and manipulations
between objects and hands through utilization of contact areas. Our method
fully preserves contact shapes, and in contrast to existing techniques, is not
dependent on grasp families, requires no model training or grasp sampling,
makes no assumptions about manipulator morphology or kinematics, and allows
user control over both transfer parameters and solution optimization. Despite
these accommodations, we show that our method is capable of synthesizing
kinematically feasible whole hand poses in seconds even for poor
initializations or hard to reach contacts. We additionally highlight the
method's benefits in both response to design alterations as well as fast
approximation over in-hand manipulation sequences. Finally, we demonstrate a
solution generated by our method on a physical, custom designed prosthetic
hand.
