GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation

Abstract

This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger, with an extended sensing area similar to the full length of a human finger. Each finger of GelSight Svelte Hand is supported by a semi-rigid endoskeleton and covered with soft silicone materials, which provide both rigidity and compliance. We describe the design, fabrication, functionalities, and tactile sensing capability of GelSight Svelte Hand in this paper. More information is available on our website: \url{https://gelsight-svelte.alanz.info}.Comment: Submitted and accepted to IROS 2023 workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI (IROS RoboTac 2023