Back to the roots. @samiam  The AX12-A servo does only send load value while it is moving, when you stop it, it sends a zero value. Thats not very good for usage. So i use again the flexiforce sensors to get the wire cable tension of every single wire cable. So a ai model can use this information for howto move the hand and also could "feel" if someone/something touches a finger. 

Here a picture of the new setup with flexiforce sensors, the box is not getting bigger, which is positive, but more hardware is used.

<img src="/uploads/ros/original/1X/109bbfdc0ed8631545daf9771048a9141b574eef.jpg" width="690" height="415">






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