Li, who was a technical lead on Tesla’s Optimus humanoid robot program, was accused by his former employer last year of absconding with trade secrets to start Proception. But after months of trading legal blows, he finally reached a settlement with Tesla, which dismissed the lawsuit earlier this month. (Tesla did not respond to a request for comment.)

Now Li is free to tackle what he thinks is an even harder problem: making robot hands work like a human’s.

To help do that, Proception announced Monday that it has raised an $11 million seed round led by First Round Capital, with contributions from Y Combinator and early stage fund BoxGroup.

Proception also announced Monday that it is shipping the first batch of its “high-dexterity robotic hand” to “researchers and robotics companies,” while opening up to wider orders. The goal, Li said, is to become the top hand supplier to other companies that don’t want to spend the time or resources developing what’s known in the industry as “dextrous manipulation.”