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

2023/09/19 by Jialiang Zhao, Zhao, Jialiang, Edward H. Adelson +1 · 2 citations
Engineering · #Advanced Sensor and Energy Harvesting Materials #Muscle activation and electromyography studies #Robot Manipulation and Learning

paper · pdf · doi:10.48550/arxiv.2309.10886

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: \urlhttps://gelsight-svelte.alanz.info.

Cited by

• From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Hands
• TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model

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