GelSight Svelte Hand is a 3-finger, 2-DoF robotic hand that is able to perform pinch grasps, power grasps, and lateral grasps
The GelSight Svelte uses only one camera (Pi Camera, ~USD $20) to capture tactile and proprioceptive signals on a humanoid robot finger. Mirrors are designed to achieve this goal. The camera is mounted in the base of the finger, the reflections in the finger are measured and with that information the grip force is applied. The flexible backbone helps to estimate the total torques acting on the finger. They are estimated from the small LED movements with a CNN.