https://formlabs.com/blog/inside-production-robot-hand/ https://formlabs.com/blog/inside-production-robot-hand/ is from almost a decade ago, but yeah - print a

https://formlabs.com/blog/inside-production-robot-hand/ https://formlabs.com/blog/inside-production-robot-hand/ is from almost a decade ago, but yeah - print a mold, stick electronics in slots in the mold, pump silicone around it. Back then it was sort of novel that commercial-grade resin printers could produce smooth enough surfaces for this; I expect that today, hobbyist-grade ones probably suffice.