About the sensors in the Allegro Hand

[xsaxasni]

Hello, your work is very impressive and exciting. I noticed that the Allegro hand you use in the physical experiments is equipped with sensors. Could you please introduce their configuration, source (purchased or self-made), and the signals they transmit? We also want to use a dexterous hand for related research, but currently, we do not have such sensors, and may need to add them, so we are inquiring. Thank you very much.

Additionally, is it possible to achieve a certain level of grasping effectiveness without fingertip sensors? Have you tried this before? Thank you again.