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Two-Finger Gripper

A two-finger robotic end-effector built with two flat vision-tactile sensors at the fingertips, an upper camera for pre-contact visual perception, and a rack-and-pinion transmission mechanism.

Role: sensor fabrication, fingertip integration, reconstruction validation, and manipulation testing.

Two-finger gripper with integrated tactile fingertips
Integrated two-finger gripper
Tactile reconstruction output from the two-finger system
Contact reconstruction result
Two-finger tactile sensor hardware
Sensor hardware
Two-finger tactile sensor structure drawing
Sensor structure
Pipette operation demo

Open hardware

Open-source CAD

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

Complete gripper

2finger_gripper.STEP · 13.53 MB

Download STEP

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

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