TakkTile sensors were implemented into the i-HY hand. The hand which was a collaborative development effort between Harvard, iRobot, and Yale.
For more information about the hand please visit here: Harvard Biorobotics Website
There are 22 sensors in each finger and 48 sensors in the palm.
The location of the sensors is illustrated on the image below:
The photos and information about the hand is extracted from this publication:
A Compliant Underactuated Hand for Robust Manipulation
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