Abstract: Structural designs and operational methods for object grasping and within-hand manipulation of an object is provided using rolling structures. The use of rolling structures reduces the need of finger gaiting, which is the periodic relocation of fingers on the object while maintaining a grasp, during manipulation. Embodiments of the invention provide a more efficient method of in-hand manipulation and grasping. In one example, two degrees of freedom rollers allow the object being manipulated in any direction in 3D space while remaining contact with the object.