Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping

This invention describes a robotic gripper finger designed to automatically adjust its grip based on where it touches an object. It has two segments, like a human finger, connected by a pivot. Depending on where the object makes contact, an internal mechanism either keeps the tip steady for a precise "pinch" grip or allows it to pivot for a wider "encompassing" grasp. The claims specify that the design of this internal mechanism is based on the finger's geometry and the desired pinch area.

Why it matters: Since 2012, advancements in additive manufacturing and robotic control systems have made complex custom mechanical designs, like this differential actuation mechanism, significantly easier and cheaper to produce and implement.

Status: Not in forceListed as no longer active. The specific reason is not in the record we hold.
How hard to build: ModerateCustom articulated links, differential actuation mechanism.

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