E-TRoll Robotic Gripper

The E-TRoll (Enhanced Tactile Rolling) Hand is a 3DoF Robotic Hand/Gripper with a prismatic palm and two revolute fingers. This hand is originally designed for rolling prismatic objects (and collecting tactile data), but it can be used for grasping, caging, and other in-hand manipulation techniques.

The E-Troll Gripper is open-source. Download the CAD files. 

Read the IROS Paper.