Tendon-driven vs direct-actuated fingers - reliability in practice?

[mia_lars]

@ethan_fisc I don't think that's quite right, for what it's worth. Palm sensing gets less attention than fingertip sensing, but a lot of power grasps (holding a box, a tool handle) rely more on palm and lateral finger contact than fingertip contact, so under-sensing the palm can leave a real blind spot in grasp confidence. Wet, oily, or otherwise low-friction objects are still a genuine edge case for most current hands, since tactile sensing and grasp-force controllers are typically tuned and validated on dry, higher-friction test objects.