 Hi, my name is Félicien Schilds and today I will present our paper entitled grip forces adjusted at the level that maintains an upper bound on partial slip across friction conditions during object manipulation. Our manual ability enables us to dexterously manipulate all kinds of objects with our fingers. This is challenging because applying too much force can break the object and too little force can cause it to slip. Luckily we are able to succeed in this task effortlessly. But how do we succeed? We have to adjust the force applied to the object, the grip force, optimally to the load force, but also to the frictional condition. We know that humans do that very efficiently, but mechanism signaling friction are unfortunately still poorly understood. To study this phenomenon in an active condition, we designed a device that allows multilitering the forces applied by the fingers as well as the index fingertips skin. Through optical imaging, the device monitored partial slip at the contact interface as well as skin deformations. In this experiment, we instructed participants to perform a grip lifting task followed by point-to- point movements. In this paper, we focus on the second and third movements. Blocks of five trials were performed and were alternating between high and low friction conditions using two different types of glass. In this paper, we looked at the second to fifth trial when the participant had the time to adapt their grip force to the friction condition. Looking at the data, we can observe that they adapted to the friction condition by increasing their grip force when it was low or decreasing it when it was high. As a consequence, the amount of slippage as measured by the stick ratio as well as the amount of deformation remained similar despite the change of friction condition. This result was confirmed by observing that at the time of maximum load force, the differences in grip force were significant but the amount of deformations and slippage remained similar. Verified at the level of grip force and an effect on finger pad skin deformations, we looked at the differences of deformation between trials where the participants applied higher levels of grip force to those where they applied lower levels of grip force for either high or low friction. The areas in blue showed the places where the amount of deformation was significantly greater for the low grip force trials and the areas in red showed the places where the amount of deformation was significantly greater for the high grip force trials. The presence of many blue areas and few red ones shows that indeed increasing the grip force decreases the amount of deformations. In our paper we also showed that adaptation depends on coefficient of friction and we did not find evidence that the level of stick ratio is linked to adaptation of grip force from one movement to the next but for more information on that we invite you to consult our paper.