1. General Information

Over the past decade, the emergence of humanoid robotics and the development of collaborative robotics have highlighted the need for flexible grippers that enable robots to adapt to a wide variety of tasks and grasp a wide variety of objects (soft, rigid, small to large, fragile, etc.). The gripper, located at the end of the robot’s arm, is the essential interface that allows the robot to interact with its environment. Thus, the development of robotic assistants that interact with humans in social and industrial environments requires the creation of advanced grippers with grasping and manipulation capabilities similar to those of the human hand. The number of robotic hands developed within the scientific and academic community is high, with over a hundred in existence. Many of these hands offer adaptive grasping without manipulation capabilities within the hand itself.

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