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The human hand is one of nature’s marvels—and a stupendous challenge to engineers who would replicate it. It’s an intricate assemblage with 29 flexible joints and thousands of specialized nerve endings, overseen by a control system so sensitive that it can instantly indicate how hot an object is, how smooth its surface is, and even how firmly it should be grasped.
Howe et al. (Tue,) studied this question.