US Patent 11285617 Modular articulating gripper

A gripper including a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base, an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one middle segment and the distal segment are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.