The Hand CLASH (Compliant Low-cost Antagonistic Servo Hand) was designed during the EU Project Soma to grasp safely and reliably fruits and vegetables. It is a compliant, yet low-cost hand.
A main feature of this hand is that it can adapt the compliance of the fingers passively by changing the pretension of the tendons. Furthermore the compliance can be actively controlled similar to the DLR Hand II. For example if the hand grasps a mango, in the contact phase of the grasp the hand is very soft to reduce the contact forces and increase the area of contact. In the lift phase the hand increases the stiffness to get a stable grasp. This mechanism is inspired by humans hands, where contraction of the muscle leads to an increased hand stiffness.
DLR CC-BY 3.0.