A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate for these inaccuracies. However, these mechanisms come at the cost of controllability and coordination. For instance, adaptive functions that let the fingers of a two-fingered gripper adapt independently may affect the coordination necessary for grasping small objects. In this work, we develop a two-fingered robotic hand capable of grasping objects that are offset from the gripper's center, while still having the requisite coordination for grasping small objects via a novel gear-type synchronization mechanism with a magnet. This gear synchronization mechanism allows the adaptive finger's tips to be aligned enabling it to grasp objects as small as toothpicks and washers. The magnetic component allows this coordination to automatically turn off when needed, allowing for the grasping of objects that are offset/misaligned from the gripper. This equips the hand with the capability of grasping light, fragile objects (strawberries, creampuffs, etc) to heavy frying pan lids, all while maintaining their position and posture which is vital in numerous applications that require precise positioning or careful manipulation.

翻译：困扰机器人抓取的一个问题是，由于精确定位、驱动等方面的困难，物体与夹爪之间会出现错位。具有柔顺机构的欠驱动机器人手被用于适应和补偿这些不准确性。然而，这些机构以牺牲可控性和协调性为代价。例如，让两指夹爪的手指独立适应的自适应功能可能会影响抓取小物体所需的协调性。在这项工作中，我们开发了一种双指机械手，能够抓取偏离夹爪中心的物体，同时通过一种新颖的磁性齿轮式同步机构，具备抓取小物体所需的协调性。这种齿轮同步机构使自适应指尖能够对齐，从而抓取牙签和垫圈等小物体。磁性组件使得这种协调性在需要时自动关闭，从而允许抓取偏离/错位夹爪的物体。这赋予了该手抓取从轻质、易碎物体（草莓、奶油泡芙等）到重型煎锅盖的能力，同时保持其位置和姿态，这对于需要精确定位或小心操作的众多应用至关重要。