This paper presents a novel algorithm which registers pressure information from tactile sensors installed over the fingers of a robotic hand in order to perform manipulation tasks with objects. This algorithm receives as an input the joint trajectories of the fingers which have to be executed and adapts it to the real contact pressure of each finger in order to guarantee that undesired slippage or contact‐breaking is avoided during the execution of the manipulation task. This algorithm has been applied not only for the manipulation of normal rigid bodies but also for bodies whose centre of mass can be changed during the execution of the manipulation task.