Yes, robot has 12 force feedback sensors, 6 on each palm. Yes, I control fingers with servos and metal tiny ropes. I believe it's better to see once than listen to a pile of verbal explanations.
<img src="/uploads/ros/original/1X/147d22904456f537feae064a1761b769cee309fe.JPG" width="690" height="460">

Finger tips and internal palm surface later were covered with silicone to prevent slipping of smooth objects.
<img src="/uploads/ros/original/1X/b9a0c41136d49cd81d0cf7d317fb04be516b8a79.JPG" width="690" height="460">

Force sensors prepared for installation<img src="/uploads/ros/original/1X/2a7732d34b13fa97e2ae47f1d9ad78cb50c9a638.JPG" width="690" height="460">

And some photos from hands' assembly stage...
<img src="/uploads/ros/original/1X/da41e08e2ee08fcb819112da37956f5f7701b5c3.JPG" width="690" height="460"><img src="/uploads/ros/original/1X/d202025c10105158575e0193fc7c993ba1be921b.JPG" width="690" height="460"><img src="/uploads/ros/original/1X/8bc6cbd1c503b47f5dda288e77779b6622e57447.JPG" width="690" height="460"><img src="/uploads/ros/original/1X/90452cd033d0c5845f1541f41b42d911191df024.JPG" width="690" height="460">

Low-level Valter's control software (left and right hand's widgets where sensors readings are displayed)
<img src="/uploads/ros/original/1X/3b1cde0ac785f499ff2ab830eb6bbf2f6efacb3c.png" width="690" height="430">





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