ExploratoryHand

New simple exploration-oriented hand. Goals:

• not more than 2 actuated DoF to keep cost, mass, and complexity low
• can grasp small and medium sized objects
• good, high-bandwidth grasp force control (for slip-based grasp control)
• at least one finger soft and light to do tactile "probing" without damaging objects or knocking them over
• able to insert one finger into narrow spaces for grasping objects in cluttered environments (think of grasping a bottle in a crowded refrigerator)
• suitable for mounting various force/torque and tactile sensors