Manipulation of Objects by Means of Phased Movements of     Multiple Fingers
{'Code': '07030000', 'Directorate': {'LongName': 'Directorate For Engineering'}, 'Division': {'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh'}
The objective of the project is the development of a theory of                  "digitation".  Digitation means the movement of a grasped object                by  means of phased movements of multiple, multiply actuated                    fingers.  Physically, what is referred to here is the kind of                   movement which a  human being employs when continuously rotating                an object in one hand,  when using a screwdriver, for example.                  In addition to developing a  theory of digitation, it is proposed               to simulate implementation of  that theory.  Digital simulation                 and animation techniques are  used in support of that effort.                   Digitation techniques are developed   sufficiently to be ready                  for implementation in hardware at  the conclusion of the project.
{'FirstName': 'Kenneth', 'LastName': 'Waldron', 'EmailAddress': 'kwaldron@stanford.edu', 'StartDate': '10/15/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Ohio State University Research Foundation -DO NOT USE', 'CityName': 'Columbus', 'ZipCode': '432101016', 'PhoneNumber': '6146888734', 'StreetAddress': '1960 KENNY RD', 'CountryName': 'United States', 'StateName': 'Ohio', 'StateCode': 'OH'}
{'Code': '1445', 'Text': 'DYNAMICS & CONTROL'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1987&All=true', 'xml': '8703712.xml'}