qb SoftClaw

It also differs from 2-finger gripping systems in that it has a fixed finger, which guarantees precision, and a movable finger for high grasp adaptability.

The mobile finger is driven by the actuator’s shaft, so it can perform a soft movement to grasp objects avoiding damages on critical parts, or a steady grasp by increasing the stiffness. Instead, the fixed finger is directly connected to the frame. The gripper can be used by position/stiffness control or by deflection between the equilibrium position and the output shaft. Thanks to this second control, objects of different dimension can be grasped giving the same closure reference (e.g. fully closed) and with the same stiffness for every positions.