GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception
Yuxiang Ma,Jialiang Alan Zhao,Edward Adelson,Yuxiang Ma,Jialiang Alan Zhao,Edward Adelson
Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, unde...
