  Grasping object,whether they are flat, round, or narrow and whether they have
regular or irregular shapes,introduces difficulties in determining the ideal
grasping posture, even for the most state-of-the-art grippers. In this article,
we presented a reconfigurable pneumatic gripper with fingers that could be set
in various configurations, such as hooking, supporting, closuring, and
pinching. Each finger incorporates a dexterous joint, a rotating joint, and a
customized plug-and-play visuotactile sensor, the DigiTac-v1.5, to control
manipulation in real time. We propose a tactile kernel density manipulation
strategy for simple and versatile control, including detecting grasp stability,
responding to disturbances and guiding dexterous manipulations. We develop a
double closed-loop control system that separately focuses on secure grasping
and task management, demonstrated with tasks that highlight the capabilities
above. The gripper is relatively easy to fabricate and customize, offering a
promising and extensible way to combine soft dexterity and tactile sensing for
diverse applications in robotic manipulation.
