Our goal is to create a finger mechanism that minimizes the volume of the robotic gripper while the fingers are not in use.

Requirements

• The fingers must be able to perform the pinch pose when not in the condensed-volume state.
• The electronics must be separate from the fingers for protection from radiation.
  
• The device should be able to grip cylindrical objects.
• The finger movements should mirror each other to automatically center the object in the grip.