US Patent 9827670 Coaxial finger face and base encoding

Disclosed herein are implementations that relate to determining tactile information using encoders coupled to one or more fingers of a robotic gripping device. The robotic gripping device may include a finger. The finger may include a deformable front face, a base link, a first encoder, and a second encoder. The first encoder may be coupled to the base link of the finger, and configured to detect a grip angle of the finger while the robotic gripping device is gripping an object. The second encoder may be coupled to the deformable front face of the given finger, proximate to the base link of the finger. Additionally, the second encoder may be configured to detect a bend angle of the deformable front face of the finger while the robotic gripping device is gripping the object.