  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}.

Robotics