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arxiv: 2309.10886 · v1 · pith:7CE2CBGX · submitted 2023-09-19 · cs.RO

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

Jialiang Zhao , Edward H. Adelson This is my paper

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classification cs.RO
keywords handfingergelsightsveltegraspstactilesensingalanz
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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}.

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Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score.

  1. ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation

    cs.RO 2026-04 unverdicted novelty 6.0

    ETac is a data-driven tactile simulation framework that matches FEM deformation accuracy at high speed, supporting 4096 parallel environments at 869 FPS and yielding 84.45% success in blind grasping across four object types.