Abstract: A method for installing a TLP based floating object at anchor points. The floating object includes a central body and buoyancy assemblies positioned around the central body in a horizontal plane, with each buoyancy assembly connected to the central body and connectable to one of the anchor points. The method includes: attaching a mooring leg including a mooring line at each anchor point; for each anchor point connecting a pull-down line between the buoyancy assembly and the anchor point; tensioning the pull-down lines so the floating object is lowered to an installation level below an operational level; for each anchor point connecting the mooring leg with the buoyancy assembly in slack mode; and after connecting the mooring lines with the buoyancy assemblies, paying out the pull-down lines so the floating object rises upward from the installation level to the operational level where the mooring legs are tensioned.

Abstract: The present disclosure is directed to an apparatus, system, or method for covering and utilizing a plunger. The plunger can be inserted into a cover configured or sized to receive the plunger. The cover is attached to a handle with a closure mechanism. The closure mechanism is used to close the open end of the cover after removal of the plunger from the cover. A toilet or other drain or pipe system may be unclogged using the covered plunger. When the plunger and the cover are removed from a toilet, and the plunger is removed from the cover, the cover reverses or inverts. When reversed or inverted, the cover contains water or waste material from the toilet within the cover.

Abstract: A downhole conveyance line cutter operable to be conveyed downhole within a wellbore along a conveyance line that conveys a tool string within the wellbore, connect to the conveyance line, and cut the conveyance line. The downhole conveyance line cutter may comprise a body, a cutting member operable to cut the conveyance line, and a clamping mechanism operable to connect the downhole conveyance line cutter to the conveyance line. The clamping mechanism may comprise a clamping member pivotably connected with the body and an actuator operable to pivot the clamping member to cause the clamping member to engage the conveyance line thereby connecting the downhole tool to the conveyance line such that the downhole tool can be retrieved out of the wellbore via the conveyance line after the downhole tool cuts the conveyance line.

Abstract: Methods and apparatus for monitoring windlass rotation are provided to determine the real time rate and length of rode release when anchoring a boat. The rotation can be monitored in real time using directional sound and/or electromagnetic radiation receivers and/or transmitter in a module attached to the windlass. Another windlass module can monitor windlass rotation using micro-electromechanical systems (MEMS) components such as accelerometers, magnetometers, gyroscopes, and/or inertial measurement units (IMU) to sense motion and/or position.

Abstract: In a general aspect, an anchor includes a tubular body that is formed at least in part of cementitious material and has open and closed ends. The anchor also includes a pad eye coupled to the tubular body and configured to couple to a mooring line. The tubular body includes a base wall, a perimeter wall, and a shear key. The base wall defines the closed end of the tubular body and has first and second surfaces on opposite sides of the base wall. The perimeter wall extends from the first surface of the base wall to the open end of the tubular body, and the shear key extends from the second surface of the base wall. The shear key is configured to penetrate an underwater floor and resist a lateral displacement of the anchor along the underwater floor when penetrated therein.

Abstract: A device and methods of placing the device for indicating tidal water depth is described. The device having a body in a vertical orientation, with a top, bottom, and at least one viewing surface, with a measurement scale of numerals and marks displayed on the at least one viewing surface, where the numerals increase in value in a direction from the bottom towards the top of the body.

Abstract: The present invention relates to a hybrid dynamically installed anchor with a folding shank and a control method to keep the verticality of the hybrid anchor during free fall in the seawater, which can be applied to the field of offshore engineering. The hybrid anchor comprises a folding-shank plate anchor, a ballast shaft, an extension rod, a plurality of rear fins, and a recovery hole from the front to the tail. The folding shank is not only useful in reducing the water and soil resistance during installation, but also beneficial in improving the directional stability of the hybrid anchor during free fall in the seawater. The re-used shaft can significantly increase the penetration depth of the folding-shank plate anchor and reduce the installation cost at the same time. The control method keeping the verticality of the hybrid anchor can improve the success rate during anchor installation.

Abstract: A multiline ring anchor and a method for installing the multiline ring anchor is disclosed herein. The multiline ring anchor can be used for mooring systems for including, but limited to, arrays of offshore floating offshore wind turbines, wave power, and floating barriers.

Abstract: A wave making apparatus for creating a surfing wave in a body of water. The waves are generated using a round bottom and front mechanical plunger. The plurality of round front plungers are assembled side by side in a vertical manner on a 90 degree back wall. The individual round front plungers actuate up and down, all at the same time, at different times, in sequence and can be placed in different shaped configurations to produce a swell into a body of water which then break of artificial surfing reefs to create a wave for surfing.

Abstract: Methods, systems, and devices are disclosed for wave power generation. In one aspect, a wave power generator device includes a stator assembly and a rotor assembly encased within a tube frame. The stator assembly includes an array of inductor coils in a fixed position within a cavity of the tube frame and a plurality of bearings coupled to the tube frame. The rotor assembly includes a turbine rotor having a central hub and peripheral blades coupled to a high inertia annular flywheel that is moveably engaged with the bearings of the stator assembly, and an array of magnets arranged to be evenly spaced and of alternating axial polarity from one another extending from the annular flywheel into the cavity between the array of inductor coils, such that electric currents are produced based on magnetic field interaction of the magnets with the inductor coils during the rotation of the annular flywheel.

Abstract: Offshore terminal apparatus which in various examples comprises a floating storage vessel which is spread-moored in fixed heading orientation to a seabed offshore by spread mooring lines, the floating storage vessel comprising a hull having bow and stern ends and which at either or both the bow end and the stern end is fitted with an extension section and includes coupling means on the extension section to couple spread mooring lines to the floating storage vessel.

Abstract: A tensioning system includes a combined rope gripper and tension cylinder. A rope passes through the combined rope gripper and tension cylinder. Once the length and/or tension of the rope has been adjusted, a reel lock handle can be actuated to prevent further rotation of the reel. The combined rope gripper and tension cylinder can be actuated to hold the rope. The combined rope gripper and tension cylinder can also be actuated to reduce or prevent the release of tension in the rope.

Abstract: A connector for connecting two subsea well assembly components; wherein the connector is arranged such that it can be preloaded in both tension and compression concurrently. The connector includes a tension part which in use can be in tension and a compression part that in use can be in compression. The tension part has an adjustable length and/or the compression part has an adjustable length. There is also provided a subsea well assembly, that includes a first subsea well assembly component; and a second subsea well assembly component; wherein the first subsea well assembly component and the second subsea well assembly component are connected to each other to provide a well conduit therebetween. The first subsea well assembly component and the second subsea well assembly component are connected such that forces can be transmitted both in tension and compression between the two components without going through the well conduit.

Abstract: A tensioning system of a mooring line of a floating structure. The mooring line includes separate first and second mooring line sections, with a first end of the second mooring line attached to the floating structure and a first end of the first mooring line section being attached to an anchoring device embedded in a seabed. A tensioner configured to act on the mooring line includes a body with a housing, and an inlet unit for inserting a second end of the first mooring line section into the housing of the body. The body includes an opening for the passage of a second end of the first mooring line section from the inlet unit, through the housing, and along a direction changing element. The tensioning system includes a stabilizing platform fixed to the body. At least a portion of the stabilizing platform laterally projects from the body of the tensioner.

Abstract: The present disclosure relates to water vessels with a bow-mounted detecting system and methods for monitoring movement of an anchor at a bow of a water vessel. More particularly, a water vessel as disclosed herein can include an anchor apparatus positioned in or on a hull of the water vessel at about a bow thereof, a detecting positioned in or on the hull of the water vessel at about the bow thereof and having a forward-directed field-of-view, and a display device adapted to receive from the detecting device and display one or more captured images of the forward scene. A method as disclosed herein can comprise providing a water vessel as disclosed herein, activating the display device to display the one or more captured images, and activating the anchor apparatus so as to cause motorized deployment or retrieval of an anchor. The water vessel can particularly provide for real-time monitoring of deploying and/or retrieving an anchor using the detecting device and the display device.

Abstract: A hoisting system includes a hoisting cylinder assembly which is arranged vertically. The hoisting cylinder assembly includes at least one hoisting cylinder, a lower part, and an upper part, the upper part being moveable in relation to the lower part. At least one sheave is arranged in the upper part of the hoisting cylinder assembly. A winch which includes a base is fixed in relation to the lower part. A first wire is operatively connected to the winch and extends from the winch via the at least one sheave to a yoke so as to suspend the yoke from the at least one sheave.

Abstract: A filter configured to be disposed within the vasculature to capture or trap material within a body lumen is disclosed. The filter may be configured to be removable and may be configured to slice through ingrown or encapsulated tissue during removal. A filter deployment device or system which may be configured to deliver a filter or filters to a position within a body lumen, such as within the vasculature, is also disclosed. The filter deployment device may be configured to limit inadvertent decoupling of a filter. Also, the filter deployment device may be configured to retrieve a deployed filter.

Abstract: A floating wind turbine farm 230 includes a plurality of anchors 20/202/204/206/208 fixed in or on a bed of a body of water. A plurality of floating wind turbine platforms 10 is deployed in the body of water, each of the floating wind turbine platforms 10 having one or more mooring lines 200/212 that extend between, and are attached to, the floating wind turbine platform 10 and one of the anchors 20/202/204/206/208. Each anchor 20/202/204/206/208 is configured to receive two or more mooring lines 200/212, wherein each of the mooring lines 200/212 are from a different one of the plurality of floating wind turbine platforms 10.

Abstract: The present disclosure provides a carrying device and an operation method thereof. The carrying device includes: a floating platform; and at least one flexible unit provided on a bottom side of the floating plate and having a cavity formed therein. The flexible unit is deformed under a stress to reduce the friction force between the flexible unit and the solid in the water, which allows the carrying device to break free from the solid without external help.

Abstract: Disclosed is an anchor having a fluke, a shank that is connected to the fluke, and a coupling to attach the fluke to an anchor line or anchor chain, wherein the shank has two shank legs each having a straight shank plate with an outer surface that extend on the opposite sides of the plane of symmetry of the anchor and that diverge from the coupling towards the fluke, wherein the fluke has two straight penetration plates with a top surface on the opposite sides of the plane of symmetry of the anchor, wherein the orientation of the outer surfaces with respect to the top surfaces is specified by three angles under narrow ranges to provide excellent penetration properties and an excellent holding capacity.

Abstract: An anchor booster is designed to increase the final penetration depth of the gravity installed plate anchor. Moreover, the booster can also improve the directional stability of the gravity installed plate anchor during its free fall in water. After installation, the booster is retrieved by pulling its retrieval line up and can be used for the subsequent installation. The booster is comprised of a cylindrical shaft with three rear fins. The shaft is designed with an ellipsoidal tip and a contracted rear. The shaft rear is set with three slots thus the rear fins can be inserted into the slots to improve the directional stability of the hybrid anchor (i.e. the gravity installed plate anchor with a booster). The booster tip is fabricated with a cylindrical slot and the anchor tail has a compatible bar, such that the booster can be connected to the anchor tail by a shear pin.

Abstract: A de-coupling mechanism includes a link slidably received in a link aperture of a bracket. A pin is slidably received in a pin bore of the link and a receiving bore of the bracket. A first block is connected to the bracket and includes an initiator receiving passage in communication with the pin bore. An initiator is positioned in the initiator receiving passage and retained against a connecting passage edge and oppositely contacts an end face of a cap connected to the first block. A second block connected to the bracket includes a longitudinal channel having a channel diameter larger than a pin diameter so the pin is freely displaceable into the longitudinal channel. An end face of a retaining cap is connected to a second block end wall. The retaining cap includes a stepped portion having a step diameter smaller than the channel diameter and the pin diameter.

Abstract: An ocean wave power plant provided for by respective interconnected functional units comprising a support structure (1a, 1b) is disclosed. The support structure (1a, 1b) is terminated in a lower end with a fastening bracket (9c) which can be anchored in a single point to a mass (9e) when deployed in the sea. A submergible uplift floating body (2) is providing buoyancy for the ocean wave power plant when deployed in the sea. The a uplift floating body (2) is attached to the support structure (1a, 1b), an electric power generating subsystem (A) supported by a platform (8) is terminating the support structure (1a, 1b) in an upper end of the support structure. A transmission member (4, 4a, 18) is attached in one end to a floating body (3) and in another end to the power generating subsystem (A) transferring wave motion from the floating body (3) to the power generating subsystem (A).

Abstract: A buoy and mooring system provides a robust buoy protective of markings thereon, easily retrieved for inspection and service, weighted and levered for maintaining self-righting, vertical orientation and anchored with a non-corroding system of connectors and links running from surface to sea floor. A mid-line float resists entanglement, and can be installed or uninstalled by operation of various “worm grip” mechanisms. A slack line region accommodates changing tides. An upright tube, weighted at a lower end and flanged at an upper end thereof, secures a buoy in place but pulls up through the buoy for easy retrieval by boat crews. Embedding an anchor is by hydraulic water jet drilling. From a thimble in the anchor to a thimble in the upright at the buoy, no intervening metal components are needed in the load path. Markings are durably and protectively embedded in recesses below the buoy's outer surface.

Abstract: A system for anchoring a floating object (e.g., watercraft) to the terrain forming of a body of water (e.g., bottom of lake). More particularly, the system provides an anchoring system that allows a rigid support structure to be configured between the anchor point and the watercraft, thereby fixing the watercraft in a constant position.

Abstract: A shallow water anchor is provided. The shallow water anchor comprises a first anchor extension and a second anchor extension axially received by a housing. The first anchor extension is axially received by the second anchor extension such that the first and second anchor extensions are sequentially deployable from the housing using an actuation arrangement. The actuation arrangement is controlled by a control interface that is operable to detect when the shallow water anchor has reached a fully extended state and fully retracted state. The shallow water anchor further includes a biasing compensator that compensates for fluctuations in the overall depth of water the anchor is deployed in due to waves or other anomalies.

Abstract: A deployable marine system for anchoring a vessel in a body of water and to enable a user to ingress into the vessel from the body of water or egress out of the vessel and into the body of water, the deployable marine system includes an anchor-ladder device and a deployment device. The anchor-ladder device includes a first member and one or more steps, the first member including a first end and a second end. The second end is opposite the first end and is associated with an anchoring component that may anchor the vessel. One or more steps may be attached to the first member. The deployment device may be attached to the vessel, connected to the first member in proximity to the first end, and may deploy the anchor-ladder device into, or retract the anchor-ladder device from, the body of water.

Abstract: An apparatus for releasing a fish into deep water, comprising a central member having an upper end portion and a lower end portion, a spiral member attached to the central member, the spiral member being spaced away from the central member and having a free end, a plurality of swivels, wherein one of the swivels can be connected the upper end portion of the central member and another of said swivels can be connected to the lower end portion of the central member, and a weight connected to the lower swivel. The device can further provide a weight on the central member that overcomes buoyancy of the fish.

Abstract: The disclosure describes, in part, battered composite piles arranged in-line with angled legs of a tower (e.g., lattice tower). The number of battered composite piles may be equal to the number of angled tower legs of the tower, and each of the battered composite piles may attach to a respective angled tower leg and may have batter angles at angles that match an angle of the angled legs of the tower. These battered composite piles are loaded predominantly axially rather than in shear and, thus, the piles may be designed to be much smaller in size while still meeting safety requirements. In addition, the piles may be installed in less time and at a lower cost than compression/lift and shear loaded foundations.

Abstract: An anchor apparatus including a base comprising a first portion that is positioned at a first level and a second portion that is positioned at a second level that is elevated from the first level, wherein the base includes a back plate that covers a portion between the first level and the second level.

Abstract: A riser system (202) comprises a riser (204) to be secured between a floating body (206) and a subsea location (209). The riser comprises a composite material formed of at least a matrix and one or more reinforcing elements embedded within the matrix. In use, the riser (204) comprises an upper portion (214) extending from the floating body (206) and having a region arranged to be in tension, a lower portion (216) extending from the subsea location (209) and having a region arranged to be in tension, and an intermediate portion (218) located between the upper and lower portions (214, 216) and having a region arranged to be in compression. A flow-line jumper (302, 402) configured to be secured between two subsea locations, a flow-line jumper arrangement comprising a flow-line jumper (302, 402) and a method of forming a flow-line jumper 302, 402 are also disclosed.

Abstract: Anchor apparatus (1) including an anchor (2) and a slideable anchor bridle (3), the anchor having a lower part or body portion with oppositely disposed anchoring formations (6a,6b) extending therefrom and an upper part including bridle attachment means in the form of at least two parallel bridle rails extending above and between the oppositely disposed anchoring formations (7,8), limbs (4,5) of the anchor bridle being slideably attached, in use, to respective bridle rails (7,8), the arrangement being such that when deployed, the anchor can be pulled in one direction whereby to permit one of the oppositely disposed anchoring formations to penetrate the sea bed and whereafter if and when the anchor is pulled in the opposite direction after the bridle limbs have slid along the bridle rails, the other of the oppositely disposed anchoring formations also penetrates the seabed, whereafter the anchor can continue to be pulled in successively alternate directions via the bridle to penetrate progressively further into

Abstract: A shallow water anchor is provided. The shallow water anchor comprises a first anchor extension and a second anchor extension axially received by a housing. The first anchor extension is axially received by the second anchor extension such that the first and second anchor extensions are sequentially deployable from the housing using an actuation arrangement. The actuation arrangement is controlled by a control interface that is operable to detect when the shallow water anchor has reached a fully extended state and fully retracted state. The shallow water anchor further includes a biasing compensator that compensates for fluctuations in the overall depth of water the anchor is deployed in due to waves or other anomalies.

Abstract: An anchor for supporting a load comprises an anchor rod having a lower threaded portion for being embedded in a concrete structure and an upper portion for extending outside the concrete structure; a metallic body attached to the lower portion, the body including a top surface and a bottom surface joined by a vertical side surface; and the side surface including at least one shoulder extending therefrom.

Abstract: A riser assembly and method of producing a riser assembly for transporting fluids from a sub-sea location is disclosed. The assembly includes a riser comprising at least one segment of flexible pipe, the riser having a first end for connection to a floating facility and a further end; at least one buoyancy element for enabling a portion of the riser to form a hog bend configuration and an adjacent portion of the riser to form a sag bend configuration; and a weight element provided between the first end of the riser and the at least one buoyancy element, such that in an initial deployment position, the weight element is provided at least partially in the sag bend portion of the riser.

Abstract: A marine anchor (1, 40, 40A, 40B, 40C) for deep embedment in a seabed soil (2) including a fluke member (4, 41) and a shank member (7, 49) and means (12, 62, 62A) for constraining a load application point thereon (13, 15, 63, 63A, 65) to lie in first and second directions from a centroid (9,46) of said fluke member (4, 41) forming, with respect to a fore-and-aft direction (10, 47) of the fluke member (4, 41), an acute forward-opening angle (A) and an acute rearward-opening angle (C) respectively whereby said marine anchor (1, 40, 40A, 40B, 40C) can be pulled rearward to bury deeply in a rearward direction (R) after having been pulled forward to bury deeply in a forward direction (F).

Abstract: An anchor pin for anchoring small water vessels is provided. The anchor pin includes at least an upper pole and a lower pole that may telescope relative to one another. The upper pole may include a substantially hollow center in which the lower pole may be inserted into. The lower pole may slide within the upper pole and may thereby telescope relative to the upper pole. The lower pole may be locked in a fixed position relative to the upper pole so that the anchor pin may be set at a desired length to anchor the water vessel. The water vessel may be attached to the anchor pin by a rope.

Abstract: The present invention is directed to an apparatus that allows a boat to be anchored and keeled. The invention has a member that can rotate about a first axis from a stowed position to an anchored position. Or the members may be placed downwardly in the ground floor of the body of water, for keeling. The hull of the vessel has a channel for the rotation or movement of the member within the channel.

Abstract: The invention is an anchor which constitutes a certain weight in the water, when dropped into the water by means of a connection like a rope or chain connected to the mentioned vessel in order to stabilize the vessels at a required area or point over the sea surface. It has an expandable reservoir which allows the water transmission inside from the outside, keeps the material located inside and is connected to the vessel with the connection and contains a water absorbent material which expands and gets heavy when interacting with water located in the reservoir. When the water absorbent material interacts with water it turns into a mass of thick solid gel and becomes heavier inside the reservoir in which it is located, and reaches the sufficient weight that the reservoir can stabilize the vessel at its place.

Abstract: A kayak mooring stake is positioned in a scupper hole or sleeve. A knob is provided on the stake, and the knob rests on a shelf or ledge around the inside surface of the scupper hole or sleeve. When the mooring stake is rotated, the knob is positioned over an essentially vertical slot interrupting the ledge or shelf, and the stake can be thrust through the scupper hole or sleeve into the mud/sand at the bottom of a bay, lake, stream or the like, thereby fixing the position of a small watercraft against wind and/or current.

Abstract: The invention provides boat anchors wherein lightweight working parts such as trowels or plows are affixed to heavier, usually metallic frame components that provide desired weight to the composite anchors.

Abstract: The present invention of MagDrag relates to methods and apparatus of a magnetic hull attaching sea anchors to slow down and impair the forward motion of sea vessels. The basic MagDrag device includes three major components, a large magnet, a sea anchor bag and a buoy.

Abstract: Described is tent peg that provides easy storage and transport to reduce the likelihood of the tent peg being lost. The tent peg comprises a shaft having and a head comprising a body having an arm extending therefrom. The arm comprises a first aperture adjacent to the body and a second aperture located between the first aperture and a distal end of the arm. The first aperture is formed to receive a shaft of a first further tent peg in an opposite orientation. Additionally, the second aperture is formed to receive a shaft of a second further tent peg in the same orientation as the tent beg. Further, the shaft of the second further tent peg is receivable in a first aperture of the first further tent peg. Therefore, multiple tent pegs can be interconnected with each tent peg in the opposite orientation to the adjacent tent pegs.

Abstract: The invention comprises an anchor including a shank which in cross section along at least part of its length has forward and rearward facing edges and a pair of side faces between said edges. The parts of the shank adjacent the forward edge are substantially “v” shaped in cross section and at least part of the side faces between the edges are concave. The anchor further includes a fluke having a forward end and a rearward edge in normal use, the rearward edge having a continuous flange extending therefrom over at least a substantial part of the rearward edge. The anchor has a roll-bar positioned substantially above the upper surface of the fluke forming a semi-circular wheel spanning the width of the fluke and wherein along at least a substantial part of its length the roll-bar is in cross section substantially in the form of a foil.

Abstract: A device for securing an anchor. The anchor securing device may comprise a shank holder for securing a shank of the anchor and a base fluke holder for securing the base of the anchor. The shank holder may use an elastic shank rope for further securing the shank to the anchor securing device.

Abstract: A structure for underwater placement on a sea, lake or river bottom. The structure has tunnels to allow water and water currents, as well as marine organisms, to pass freely therethrough and infiltrate and colonize the openings. One or more hitch points are provided on the structure for attaching mooring lines to ships, boats, floating wind turbines or other floating objects, thereby allowing the structure to serve as a mooring to anchor such objects. The hitch points can be recessed within a depression in the surface of the structure and the hitch bar ends can also be recessed, providing an exterior surface free of protuberances.

Abstract: Subsea anchor (1) having a hollow cylindrical body (3) extending down from a top part (13). The anchor has a top aperture (15) and a top hatch (17) which is adapted to close and open the top aperture (15). The cylindrical body (3) is adapted to penetrate into a seabed. The area of said aperture (15) is at least 30% of the corresponding cross section area encircled by the cylindrical body (3).

Abstract: A sea vessel exploration and production system is provided, wherein the system includes a drilling station formed from at least one section of a first sea vessel hull; and a docking station, which is also formed from at least one section of a second sea vessel hull. A mooring system suitable for connecting the drilling station to the docking station is also provided. Means for anchoring the vessels to the seafloor, and for attaching them to turret buoys, are also considered. Various exploration and production packages, as well as equipment required to deploy and control a self-standing riser system in either deep or shallow waters, are also described.

Abstract: A proximal pivot assembly has a proximal pivot arm with proximal and distal ends; a first pin pivotally coupling the proximal end of the proximal pivot arm to a boat mount, a second pin attaching a stop block to the boat mount, a third pin, and a fourth pin coupling the proximal collar to the distal end of the proximal pivot arm. A distal pivot assembly has an anchoring pole mounting plate receiving an anchor pole. The anchor pole has an interior end with a fifth pin. A sixth pin pivotally couples the exterior end of a distal extension arm to the mounting plate. A distal collar with a seventh pin pivotally couples the distal collar to the distal extension arm. An extension assembly operatively couples the proximal and distal pivot assemblies.

Abstract: An anchoring harpoon intended in particular for an aircraft, capable of cooperating with an anchoring grate of a platform, includes jack elements including a cylinder element containing mobile piston elements provided with a rod that extends beyond the cylinder element, the free end of which includes a harpoon head (7) that is hooked in the grate and includes retaining fingers (8, 13, 14) that can be moved between a retracted position and an active position by control elements (9). The control element (9) for controlling the movements of the fingers include a control piston (18) which can slide inside the rod of the jack and which is associated with a bistable actuator (19) of the fingers, capable of moving between a retracted position and an active position in which the fingers are deployed with the application of successive pressure pulses in the jack elements.