In this article, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers. We designed an underactuated linkage which enables the robot hand to achieve an adaptive grasp, a pinch grasp and a manipulation by a palm of the hand. A prototype of the robot hand was developed. We conducted handling experiments to evaluate the validity of the robot hand.
