The integration of tactile sensors in dexterous robotic hands contributes greatly to creating
autonomous robots capable of interacting with their environment and manipulating various types of
objects. The shape of these objects may not be previously known to the robot. In this work we
realize the manipulation of unknown objects that are grasped with two fingers of the SCHUNK
SDH 2 robotic hand. The fingers manipulate the object changing its orientation with the use of the
tactile information provided by the fingers' tactile sensors. The different contact points in the
fingertip's surface are modelled by introducing a virtual joint that adds an extra degree of freedom
to each finger.