  Manipulation tasks often require a high degree of dexterity, typically
necessitating grippers with multiple degrees of freedom (DoF). While a robotic
hand equipped with multiple fingers can execute precise and intricate
manipulation tasks, the inherent redundancy stemming from its extensive DoF
often adds unnecessary complexity. In this paper, we introduce the design of a
tactile sensor-equipped gripper with two fingers and five DoF. We present a
novel design integrating a GelSight tactile sensor, enhancing sensing
capabilities and enabling finer control during specific manipulation tasks. To
evaluate the gripper's performance, we conduct experiments involving two
challenging tasks: 1) retrieving, singularizing, and classification of various
objects embedded in granular media, and 2) executing scooping manipulations of
credit cards in confined environments to achieve precise insertion. Our results
demonstrate the efficiency of the proposed approach, with a high success rate
for singulation and classification tasks, particularly for spherical objects at
high as 94.3%, and a 100% success rate for scooping and inserting credit cards.
