We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger contains two cameras, allowing tactile data to be gathered along the front and side surfaces of the fingers. The gripper can perform an enveloping grasp of an object and extract a large amount of rich tactile data in a single grasp. By capturing data from many parts of the grasped object at once, we can do object recognition with a single grasp rather than requiring multiple touches. We describe our novel design and construction techniques which allow us to simultaneously satisfy the requirements of compliance and strength, and high resolution tactile sensing over large areas. The supplementary video can be found here: https://youtu.be/H1OYADtgj9k

翻译：我们描述了一种新颖的三指机器人手，其每根手指全长均具有高分辨率触觉传感能力。手指具有柔顺性，由柔性内骨骼支撑的软外壳构成。每根手指内置两个摄像头，能够沿手指正面和侧面采集触觉数据。该夹爪可对物体执行包络抓取，并单次抓取中获取大量丰富的触觉数据。通过同时捕获被抓物体多个部位的触觉信息，我们可实现仅需单次抓取而非多次接触的物体识别。本文阐述了兼顾柔顺性与强度、以及大面积高分辨率触觉传感需求的新颖设计与构造技术。补充视频见：https://youtu.be/H1OYADtgj9k