Abstract: A robotic compliant jaw gripper includes one or more fingers, wherein each finger comprises a plurality of phalanges configured to grasp an object, wherein an internal compliant element is compressed, or wherein a proximal phalange contacts a compliant element as the finger applies pressure against the object; and a preload unit is configured to change the durometer of the compressible element.

Abstract: A robotic finger assembly has a first phalange connected to a palm via a first joint, a second phalange connected to the first phalange via a second joint, and a third phalange connected to the second phalange via a third joint. A drive spool at the first phalange has a first and second tendon wound in opposite directions. A first spool is aligned with the second joint and has the first tendon wound to enter and exit the first spool on a first side, and has the second tendon wound to enter and exit the first spool on a second side. A second spool is aligned with the third joint and has the first tendon wound to enter and exit the second spool on the first side, and has the second tendon wound to enter and exit the second spool on the second side.

Abstract: A plurality of interconnected phalanges form robotic fingers configured to grasp an object. The phalanges interact with a resilient compliant element for adjustable resilient cushioning of movement of the phalanges.