In-Hand dexterity is the ability to make coordinated movements of the fingers to grasp and manipulate objects. For humans to handle an object is an innate ability and a straightforward task, but the situation is completely reversed if a robot is performing the manipulation. Traditional industrial robot manipulators are typically designed as the combination of an arm and a simple gripper as end-effector. Undoubtedly, this configuration is highly efficient when a high degree of on-site manipulation by the end-effector is not required. The challenge that fascinates researchers and robotics lovers is to attempt to develop end-effectors that could provide the most efficient manipulation feasibility.