Robotic Gripping Device for Grasping Handles and Objects

This invention describes a robotic gripper with two main parts. Each part has a stiff section designed to hold a tool handle and a flexible finger. When holding a tool, the stiff sections grasp the handle, and the fingers are apart. When not holding a tool, the stiff sections can come together, allowing the flexible fingers to perform a pinch grip. The claims narrow this to a version where the stiff sections have tines that interlock when performing the pinch grip.