Abstract: A gripper and a robot are provided. The gripper may include a shell and at least two finger assemblies. The finger assemblies are utilized to grasp an object on two opposite sides of the object. Each finger assembly may include a connecting rod, a pad portion and a layer of synthetic fibrillar adhesive. The connecting rod may be movably connected to the shell. The pad portion may be connected to the connecting rod, and the connecting rod may move the pad portion towards the object under a driving force. The layer of synthetic fibrillar adhesive may be attached to the pad portion. Microfibers of the layer of synthetic fibrillar adhesive may be inclined away from the shell.

Abstract: A torque sensor is provided that includes a deformable plate that includes an inner part and an outer part. The torque sensor may also include one or more elastic elements that connect the inner part and the outer part. The torque sensor may also include a transducer mounting plate that is rigidly connected to the inner part of the deformable plate. In certain embodiments, the elastic elements include at least one serpentine-shaped elastic element. In other embodiments, the elastic elements may include a beam structure. In some embodiments, the torque sensor includes a plurality of zeroing pins and zeroing pin slots which, when engaged, constrain the rotation of the torque sensor to a smaller zeroing range. In certain embodiments, the torque sensor may also include a plurality of hard stop pins that engage a stopping when an applied torque exceeds a predetermined threshold.

Abstract: A gripper system is provided that includes first and second linear carriages and first and second gecko adhesive patches. The gecko adhesive patches may have first and second surfaces, and a thin rigid backing may be attached to the second surface of the gecko adhesive patches. At least one layer of non-stretchable, flexible film may be glued to the thin rigid backing and a thick rigid backing may be glued to the film. The gripper system may further include a loading film. In other embodiments, the gripper system may include first and second pluralities of support tendons, which may connect the gecko adhesive patches to the carriages.