M2 Gripper
A collaboration with Yale OpenHand designer, Raymond Ma, the M2 Gripper combines an interchangeable 'thumb' with a multi-modal actuation method. This enables the finger to grasp objects adaptively, via an underactuated scheme, or non-adaptively. This enables the successful grasping and within-hand-manipulation of a variety of objects.
The hand design was open sourced and has been replicated for use by several other labs. Notable examples are from NAIST and BRL. Part files and build instructions may be found on the OpenHand website.
The M2 Gripper was inspired by the Palpating Robotic Gripper (below)
Palpating Robot Gripper