section_path: Mechanical robotics areas/Sensing/Mechanical grippers
section_name: Mechanical grippers
paragraph_text: Mechanical grippers
  
  One of the most common types of end-effectors are "grippers". In its simplest manifestation, it consists of just two fingers that can open and close to pick up and let go of a range of small objects. Fingers can, for example, be made of a chain with a metal wire running through it. Hands that resemble and work more like a human hand include the Shadow Hand and the Robonaut hand. Hands that are of a mid-level complexity include the Delft hand. Mechanical grippers can come in various types, including friction and encompassing jaws. Friction jaws use all the force of the gripper to hold the object in place using friction. Encompassing jaws cradle the object in place, using less friction.