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

TL;DR

This paper presents a fully actuated robotic hand with multiple Gelsight tactile sensors that can perceive surface topology, shear, tensile stress, and other modalities, enabling advanced grasping and manipulation.

Contribution

It introduces a novel two-finger robotic gripper integrating multiple Gelsight sensors and multimodal sensing capabilities for enhanced tactile perception.

Findings

Multiple Gelsight sensors provide comprehensive surface topology data.

The hand can track shear, tensile stress, and other tactile modalities.

The design supports various grasp configurations and in-hand manipulation.

Abstract

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.