# GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception

arXiv: https://arxiv.org/abs/2403.14887 · HTML: https://mlsanity.com/paper/2403.14887/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Mar 2024.

## Built on by (most cited first, 6 of 6)

- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks](https://mlsanity.com/paper/2406.13640/) (2024)
- [PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies](https://mlsanity.com/paper/2504.19341/) (2025)
- [VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](https://mlsanity.com/paper/2510.14930/) (2025)
- [FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems](https://mlsanity.com/paper/2604.28156/) (2026)
- [Learning Gentle Grasping from Human-Free Force Control Demonstration](https://mlsanity.com/paper/2409.10371/) (2024)

## Abstract (arXiv)

Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, underactuated, linkage-driven robotic finger with low-cost, high-resolution vision-based tactile sensing and proprioceptive sensing capabilities. In order to reduce the amount of embedded hardware, i.e. the cameras and motors, we optimize the linkage transmission with a planar linkage mechanism simulator and develop a planar reflection simulator to simplify the tactile sensing hardware. As a result, GelLink only requires one motor to actuate the three phalanges, and one camera to capture tactile signals along the entire finger. Overall, GelLink is a compact robotic finger that shows adaptability and robustness when performing grasping tasks. The integration of vision-based tactile sensors can significantly enhance the capabilities of underactuated fingers and potentially broaden their future usage.