  We describe a novel three-finger robot hand that has high resolution tactile
sensing along the entire length of each finger. The fingers are compliant,
constructed with a soft shell supported with a flexible endoskeleton. Each
finger contains two cameras, allowing tactile data to be gathered along the
front and side surfaces of the fingers. The gripper can perform an enveloping
grasp of an object and extract a large amount of rich tactile data in a single
grasp. By capturing data from many parts of the grasped object at once, we can
do object recognition with a single grasp rather than requiring multiple
touches. We describe our novel design and construction techniques which allow
us to simultaneously satisfy the requirements of compliance and strength, and
high resolution tactile sensing over large areas. The supplementary video can
be found here: https://youtu.be/H1OYADtgj9k
