The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers

Reminds me a bit of the TARS robot from Interstellar. It was portrayed as a highly capable robot with limited articulation. (CASE too) https://interstellarfilm.fandom.com/wiki/Robot

It works best on problems which are strongly Cartesian. The chopsticks demo shows the limitations of this. The gripper can pick up two chopsticks, but it can't do much with them, because it can't rotate them to bring them together at the points. But it seems to be good for lab equipment with simple geometry.

Also, where are the motors? Inside the gripper, or at the other end of cables?

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.

...or AI assisted robotic surguries