  We provide the mechanical and dynamical requirements for a robotic finger
capable of performing thirty diverse everyday tasks. To match these
requirements, we present a finger design based on series-elastic actuation that
we call the everyday finger. Our focus is to make the fingers as compact as
possible while achieving the desired performance. We evaluated everyday fingers
by constructing a two-finger robotic hand that was tested on various
performance parameters and tasks like picking and placing dishes in a rack,
picking thin and flat objects like paper and delicate objects such as
strawberries. Videos are available at the project website:
https://sites.google.com/view/everydayfinger.
