> small, temporary flat surfaces out of thin air
Hmmm, short of force-field technology, I think there's a slightly different solution which we might be getting close to: A robot assistant that can recognize when it is offered objects, and then returns them. This role may be familiar to anyone who has ever helped a parent do car/home repairs.
Human: "Take this."
Bot: "This looks new, please name the object."
Human: "It's a sprongle wrench."
Bot: "Taking sprongle wrench."
Human: "Give me the sprongle wrench."
Bot: "Here's the sprongle wrench."
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Back to your flat-surface scenario, perhaps similar system could create virtual shelves or cubbyholes? When you present the robot an item, it remembers the handoff location in space, and moving your hand there again causes it to offer the corresponding object. You'd probably need some sort of augmented-reality display in order to quickly see what's available though.