For my most recent research project, I designed a three-finger robot hand with high-resolution tactile sensing along the entire length of each finger. The fingers are compliant, and they are constructed with a soft shell supported by 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.