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因精确定位、驱动等方面的困难导致的物体与夹爪之间的不对准。采用具有柔性机构的欠驱动机器人手可以适应并补偿这些误差。然而，这些机构以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。本文开发了一种两指机器人手，能够抓取偏离夹爪中心的物体，同时通过一种新颖的带磁齿轮式同步机构，保留抓取小物体所需的协调性。这种齿轮同步机构使自适应手指指尖能够对齐，从而抓取牙签和垫圈等微小物体。磁性元件允许这种协调性在需要时自动关闭，从而能够抓取偏离/未对准夹爪的物体。这使得该手具备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，这对于众多需要精确定位或精细操作的应用至关重要。