Abstract
The study has proposed a multi joint gripper (MJG) that achieves envelope grasping for unknown shape objects. The mechanism mainly consists of a serially connected differential gear system (DGS) controlled by only two actuators. We have developed the MJG with seven joints and succeeded the envelope grasping of various shape objects with no sensory feedback. This paper proposes the way to control the joint stiffness followed by being elucidated with some simulation studies and experiments.
