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

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