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The synthesis of tactile sensing with compliance is essential to many fields,from agricultural usages like fruit picking, to sustainability practices suchas sorting recycling, to the creation of safe home-care robots for the elderlyto age with dignity. From tactile sensing, we can discern material properties,recognize textures, and determine softness, while with compliance, we are ableto securely and safely interact with the objects and the environment around us.These two abilities can culminate into a useful soft robotic gripper, such asthe original GelSight Fin Ray, which is able to grasp a large variety ofdifferent objects and also perform a simple household manipulation task: wineglass reorientation. Although the original GelSight Fin Ray solves the problemof interfacing a generally rigid, high-resolution sensor with a soft, compliantstructure, we can improve the robustness of the sensor and implement techniquesthat make such camera-based tactile sensors applicable to a wider variety ofsoft robot designs. We first integrate flexible mirrors and incorporate therigid electronic components into the base of the gripper, which greatlyimproves the compliance of the Fin Ray structure. Then, we synthesize aflexible and high-elongation silicone adhesive-based fluorescent paint, whichcan provide good quality 2D tactile localization results for our sensor.Finally, we incorporate all of these techniques into a new design: the Baby FinRay, which we use to dig through clutter, and perform successful classificationof nuts in their shells. The supplementary video can be found here:https://youtu.be/_oD_QFtYTPM

GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing