Comment by octoberfranklin

One of the challenging parts of imitating human hands is that our hands sense through the same surface which deforms as we bend our fingers. We don't have good robotic devices that can do that.

This sidesteps the problem: the surface that contacts the object is flat and never bends, so you can apply a huge variety of very detailed grid sensors to it.

The "rolling between the fingers" trick is ultimately what eliminates the need for deformation.