How about the small air bladder, mounted on top of an FSR? That should spread the pressure of the grip uniformly, allowing non-uniform object pick up while using a simple FSR on the 'body' of the finger.
How about the small air bladder, mounted on top of an FSR? That should spread the pressure of the grip uniformly, allowing non-uniform object pick up while using a simple FSR on the 'body' of the finger.