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This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactilerobotic hand that is capable of performing precision grasps, power grasps, andintermediate grasps. Rich tactile signals are obtained from one camera on eachfinger, with an extended sensing area similar to the full length of a humanfinger. Each finger of GelSight Svelte Hand is supported by a semi-rigidendoskeleton and covered with soft silicone materials, which provide bothrigidity and compliance. We describe the design, fabrication, functionalities,and tactile sensing capability of GelSight Svelte Hand in this paper. Moreinformation is available on our website:\url{https://gelsight-svelte.alanz.info}.

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