3D printed adaptive underactuated gripper single actuator

Описание: The gripper has only one actuator. All three fingers are 3D printed using a FDM printer. It adapts very well to various types of objects. In another video we show the same gripper with a Hydrogel-PDMS skin, which is able to pick soft fruits such as strawberry. For more information, please see the following articles:

Hydrogel-Silicone conjunction as epidermal and dermal layers of bio-inspired soft finger skin
2017 IEEE 5th Portuguese Meeting on Bioengineering (ENBENG), 1-4

Anthropomorphic finger for grasping applications: 3D printed endoskeleton in a soft skin
The International Journal of Advanced Manufacturing Technology, 1-14