Figure 1. Classification of end effectors

From

Proposal of Anthropomorphic Robotic Hand

Marek Sukop, Peter Marcinko, Ján Semjon, Marek Vagaš, Ondrej Juruš, Peter Tuleja, Rudolf Jánoš

American Journal of Mechanical Engineering. 2017, 5(6), 321-324 doi:10.12691/ajme-5-6-18