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With the advent of humanoid robots aiming to perform human tasks, improvement in hand dexterity continues to be the forefront focus in the industry Human hands are one of the most difficult aspect for robots to understand and replicate. A single human hand makes up of 27 bones, 30 joints, and dozens of muscles/tendons. Hands also rely heavily on tactile feedback—such as pressure, texture, and slip—which robots can only sense in limitation. From a perception standpoint, hands are hard to track be
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