Cassino gripper test-bed

This video shows a prototype named as Cassino Gripper Test-Bed that has been designed and built at LARM in Cassino. The gripper is actuated by a pneumatic piston. Load cells are attached on the fingertips. A close-loop force feedback control is achieved by using the feedback of the load cells and a commercial PLC. The force feedback control allows the grasping also of delicate objects.