an apparatus which securely grasps a wide range of three dimensional objects while relaying digital data about the surface grasped using pneumatically actuated mechanical probes for such grasping and optomechanical encoding for such relaying of data . such optomechanical encoding employs encoder tubes with columns of patterned slots and holes to selectively transmit light through synthetic plastic fibers . a process of constructing the portion of the apparatus where the optomechanical encoding producing such data occurs which comprises continuously looping the synthetic plastic fibers necessary for light transmission , injecting an adhesive and sealant to enable pneumatic operation of the apparatus , and cutting the adhesive and sealant and synthetic plastic fibers in a circular pattern to allow the passage of the encoder tubes .