# Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors

arXiv: https://arxiv.org/abs/2002.02474 · HTML: https://mlsanity.com/paper/2002.02474/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Feb 2020.

## Built on by (most cited first, 2 of 2)

- [GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing](https://mlsanity.com/paper/2309.10885/) (2023)
- [A soft thumb-sized vision-based sensor with accurate all-round force perception](https://mlsanity.com/paper/2111.05934/) (2021)

## Abstract (arXiv)

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from multiple views simultaneously as well as can track the shear and tensile stress. In addition, other sensing modalities enable the hand to gather the thermal, acoustic and vibration information from the object being grasped. The force controlled gripper is fully actuated so that it can be used for various grasp configurations and can also be used for in-hand manipulation tasks. Here we present the design of such a gripper.