Development of Multi-Joint Gripper for Underwater Operations

In our previous studies, we have developed a multi-joint gripper (MJG) that has a function of controlling the stiffness of the joints by using the Differential Gear Mechanism (DGM) chain, which allows to grasp objects with no observing their physical information such as shape, weight, and softness. It also allows to be used in severe environments because of being no need of embedding any electric devices or sensors in the finger parts. In this paper, we propose a waterproof design for installing it as a gripper for an underwater Remotely Operated Vehicle (ROV).