I designed and printed a new flexiforce adapter. With this one, the sensor is fixed at a perfect position even if you move the cable. Also it is between two metal parts. Here you can see it.

<img src="/uploads/ros/original/1X/14f24b21c761601abc28cf4765e946e340e8f584.jpg" width="690" height="426">

I also had built a new box to get everything in a fixed place and see how it would fit. Here is the front of the box.

<img src="/uploads/ros/original/1X/845b6ae804dbae7314cc56e258a5bcf22482422c.jpg" width="188" height="500">

And here the back of the box with all electronics. You just need to plug in one USB cable and one Ethernet-cable for the raspberry-pi and power it up.

<img src="/uploads/ros/original/1X/715f4f25b120cc9b7fed7b00440648753c755fff.jpg" width="224" height="500">

With this setup is absolutely easy to install the wire-cables for one robotic finger through these bowden cables. Plug in the cables and connect to rviz. ready to go






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