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

arXiv: https://arxiv.org/abs/2309.10886 · HTML: https://mlsanity.com/paper/2309.10886/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Sep 2023.

## Built on by (most cited first, 4 of 4)

- [PoCo: Policy Composition from and for Heterogeneous Robot Learning](https://mlsanity.com/paper/2402.02511/) (2024)
- [PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies](https://mlsanity.com/paper/2504.19341/) (2025)
- [TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model](https://mlsanity.com/paper/2509.10063/) (2025)
- [From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Hands](https://mlsanity.com/paper/2511.13710/) (2025)

## Abstract (arXiv)

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.