  Most current anthropomorphic robotic hands can realize part of the human hand
functions, particularly for object grasping. However, due to the complexity of
the human hand, few current designs target at daily object manipulations, even
for simple actions like rotating a pen. To tackle this problem, we introduce a
gesture based framework, which adopts the widely-used 33 grasping gestures of
Feix as the bases for hand design and implementation of manipulation. In the
proposed framework, we first measure the motion ranges of human fingers for
each gesture, and based on the results, we propose a simple yet dexterous
robotic hand design with 13 degrees of actuation. Furthermore, we adopt a frame
interpolation based method, in which we consider the base gestures as the key
frames to represent a manipulation task, and use the simple linear
interpolation strategy to accomplish the manipulation. To demonstrate the
effectiveness of our framework, we define a three-level benchmark, which
includes not only 62 test gestures from previous research, but also multiple
complex and continuous actions. Experimental results on this benchmark validate
the dexterity of the proposed design and our video is available in
\url{https://drive.google.com/file/d/1wPtkd2P0zolYSBW7_3tVMUHrZEeXLXgD/view?usp=sharing}.
