The ability to sense compliant interactions through internal state measurements improves adaptability and robustness of robotic grasping and manipulation, without interfering with any carefully designed passive dynamics. This work presents a collocated sensing and actuation system using a compliant tendon driven hand and its accompanying model. Using a simple vision-based measurement device the approach is able to estimate its internal state and applied external forces. The camera-based sensor uses off-the-shelf components and has the ability to measure many more than 15 tendons simultaneously, giving a low-cost, scale-able, high-bandwidth sensing solution. The collocated configuration provides a framework for developing stable feedback controllers. Our results show that the system can estimate change in posture with $lt 10$% error with the potential to estimate contact forces using the same scheme.
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