Meet the ReFlex Hand: a robotic hand that can pinch and grasp using 4 Dynamixel motors. It is ROS compatible and uses 9 TakkTile sensors per finger. The unit weighs 800 grams and can be connected over Ethernet. It comes with adapter plates for Baxter and other popular robots.
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Each sensor has 0.01N sensitivity with 50Hz sampling rate. This video provides more info on these robot hands:
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