The mechanism mainly consists of a single 3D printed TPU part. A motor and some fingers are additionally attached. The mechanism functions in two different kinematic modes: 1. Sense Mode 2. Grip Mode In Sense Mode, the gripper mechanism kinematically amplifies forces at the fingertips to the motor. Motor currents are used to detect contact and estimate forces. The mechanism is then able to switch kinematic configurations, moving into Grip Mode. In Grip Mode, motor torques are amplified to fingertip forces, ensuring a tight hold. This research was performed by Shashank Ramesh.

The following video shows a verification of its kinematics: