A Novel Underactuated Universal Gripper with Swing Rods and an Elastic Membrane for Underwater Grasp Underwater grasping is special and different from common object grasping. Traditional gripper cannot be used in underwater environment. Underactuated gripper is simple in structure and has selfadaptive function, which is better than complex dexterous hand for underwater tasks. This paper proposes a novel underactuated universal gripper, called SREM gripper. The SREM gripper is used to grasp objects, realizes the adaptive function of the size and shape of objects by using multiple swing rods, and realizes the space envelope of objects by using an elastic membrane. The device achieves the multidirection grasping of objects, can provide grasping force to objects in multiple directions. The device is not limited by the working environment, has simple structure and low energy consumption.

Development of New Extensible Components for Enabling a More Flexible Usage of JammingGripper In many applications, gripping systems are key elements to turn industrial robots into flexible and versatile handling systems. Depending on the gripping principle those systems can either be rather limited or very flexible in terms of gripping a broad variety of different objects. The socalled jamminggripper can grasp a wide range of objects by passively adapting to the shape of different workpieces. The purpose of the work described in this paper is to develop extensible components for optimizing the jamminggripper. Concerning the previous jamminggripper, the problems related to a mechanical structure, installing a filter, a balloon as a membrane, and filling the balloon with powder are investigated to improve the jamminggripper system. A new gripper system designed is presented to not only address the existing problems but also to make it even more userfriendly and practical. Tests are performed to determine the influence of three different filling ratios of the membrane on the gripping performance for objects with complex geometries.