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Adaptive Compliant Gripper — Underactuated Fingers (2D)

Interactive 2D companion to the 3D adaptive gripper model: three underactuated fingers, each a chain of rigid links joined by torsional springs, curl around a circle, square or irregular object driven by a single tendon force per finger — no shape sensing, just mechanical compliance.

Robotics & Kinematics2DModerate60 FPS📱 Mobile-adapted⇄ 3D version

The 3D adaptive gripper model shows one adaptive gripper succeeding where a fixed-force gripper fails. This 2D companion opens the hood on the mechanism itself: three fingers, each a two-joint chain of rigid links held by torsional springs and pulled by a single tendon, close around whatever object you choose. Pick a circle, a square or an irregular blob and watch each joint stop independently the instant its own link makes contact, while the same tendon force keeps curling the rest of the finger around the object — a self-adaptive grasp with no shape sensor anywhere in the loop.

⚙ Under the hood

A 2D companion to the 3D adaptive compliant gripper: three underactuated fingers, each modeled as a chain of rigid links connected by torsional-spring joints and driven by a single tendon per finger. Contact forces are mapped back onto each joint via a virtual-work (Jacobian-transpose) coupling, so a joint that touches the object slows on its own while the same tendon keeps closing the rest of the finger — a genuinely self-adaptive grasp with no shape sensing.

Underactuated GripperCompliant MechanismTorsional SpringSoft RoboticsContact ForceSelf-Adaptive Grasp

2D · HTML5 Canvas 2D · 60 FPS target · runs fully client-side, no install