Underactuated hands

Delft Hand

We developed a powerful, versatile, lightweight three-fingered underactuated gripper.

The three fingers of the hands each have two degrees of freedom, all actuated by a single motor. Clever mechanisms assure a powerful and robust grip on widely varying objects with a minimum of sensing and control.


  • 3 x 2 degrees of freedom
  • 1 low-power motor
  • 1 force sensor
  • 0.6 kg total mass
  • 8 kg maximum payload


(right-click this link to download to your computer)