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Three-Finger Gripper

A direct-drive three-finger robotic gripper for contact-rich object interaction. Each finger uses four motors for four degrees of freedom, giving the platform twelve degrees of freedom in total.

Role: vision-tactile sensor adaptation, fabrication, end-effector integration, and system-level manipulation testing.

Three-finger gripper with integrated tactile sensors
Integrated three-finger gripper
Three-finger tactile sensor structure drawing
Sensor structure
Tactile sensor demo
Valve operation demo

Open hardware

Open-source CAD

Download the editable STEP source files for manufacturing, inspection, and design modification.

Complete gripper

3finger_gripper.STEP · 10.94 MB

Download STEP

Licensed under CERN-OHL-S-2.0. Contributors: Xiaofan Lu, Yuankai Lin, and Jiahui Chen.

State Key Laboratory of Intelligent Manufacturing Equipment and Technology (智能制造装备与技术全国重点实验室).

Read the CAD license