Dexterous gripper for robotic end-effector applications

This invention describes a robot hand with two fingers that grasp objects. Each finger is moved by a pair of cables, where one cable pulls the finger in one direction while the other cable moves it in the opposite direction, both sliding within flexible tubes. The motors that pull these cables are located separately from the hand itself, connected by the flexible tubes, which helps make the hand lighter and stronger. Specifically, the claims narrow the invention to cables wound in opposite directions around a special helical spool driven by the motor.