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}.

翻译：本文介绍了一种新型三指两自由度触觉机器人手——GelSight Svelte Hand，该手能够执行精密抓取、强力抓取及中间抓取。每根手指的单个摄像头可获取丰富的触觉信号，其扩展感应区域近似于人手指的完整长度。GelSight Svelte Hand的每根手指由半刚性内骨骼支撑，并覆盖软质硅胶材料，兼具刚性与柔顺性。本文详细阐述了该手的设计、制造、功能及触觉感知能力。更多信息请访问我们的网站：\url{https://gelsight-svelte.alanz.info}。