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

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 …

GelSight Simulation for Sim2Real Learning

Grasping and manipulation of objects are common both in domestic and industrial environments. Recent works exploring learning based solutions have shown promising results on robotic manipulation tasks. One efficient approach for training such …

Modular, Whole Finger Tactile Sensing Gripper

This work explores a modular gripper with tactile sensing capabilities all-round the surface and not just limited to the inner fingertip. The system makes use of commonly available components to achieve optical tactile sensing by detecting …