This work details the design of a novel two fin-ger robot gripper with multiple Gelsight based optical-tactilesensors covering the inner surface of the hand. The multipleGelsight sensors can gather the surface topology of the objectfrom multiple views simultaneously as well as can track theshear and tensile stress. In addition, other sensing modalitiesenable the hand to gather the thermal, acoustic and vibrationinformation from the object being grasped. The force controlledgripper is fully actuated so that it can be used for various graspconfigurations and can also be used for in-hand manipulationtasks. Here we present the design of such a gripper.
In hand manipulation tasks, object localisation