A journal paper submitted to Transactions on Haptics was recently accepted (Thank you to my co-authors Raymond Ma and Aaron Dollar). It is titled A Hand-Centric Classification of Human and Robot Dexterous Manipulation, and discusses a general framework for classifying manipulation of both human robotic systems.
For the moment, please see the preliminary ICORR 2011 paper, but the full journal paper should be available soon. A few quick snapshots are provided to get a general idea of the journal paper content:
A few important terms are used to classify manipulation tasks.