GelSight Svelte Hand：一种用于灵巧操作的三指、二自由度、触觉丰富、低成本机器人手
GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation
AI总结：
本文提出 GelSight Svelte Hand，一种三指二自由度低成本触觉机器人手，通过半刚性内骨骼与软硅胶覆盖实现刚柔结合，并利用每指单摄像头获取全长触觉信号，支持精确、力量及中间抓取。
摘要：
本文介绍了 GelSight Svelte Hand，一种新型的三指二自由度触觉机器人手，能够执行精确抓取、力量抓取和中间抓取。丰富的触觉信号来自每根手指上的一个摄像头，其扩展传感区域类似于人类手指的全长。GelSight Svelte Hand 的每根手指由半刚性内骨骼支撑，并覆盖有柔软的硅胶材料，从而同时提供刚性和柔顺性。我们在本文中描述了 GelSight Svelte Hand 的设计、制造、功能以及触觉传感能力。更多信息可在我们的网站上获取：\url{https://gelsight-svelte.alanz.info}。
英文摘要：
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger, with an extended sensing area similar to the full length of a human finger. Each finger of GelSight Svelte Hand is supported by a semi-rigid endoskeleton and covered with soft silicone materials, which provide both rigidity and compliance. We describe the design, fabrication, functionalities, and tactile sensing capability of GelSight Svelte Hand in this paper. More information is available on our website: \url{https://gelsight-svelte.alanz.info}.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
