Variable Impedance Robotic Gripper

The goal of the project is to create a variable impedance robotic gripper (V.I.R.G) that increases
stiffness with increasing force. The gripper should be able to grip fragile objects (low force, low stiffness) as well as denser, heavier objects (high force, high stiffness). Ideally, a passive robotic gripper with linear stiffness-force relationship will be achieved using only one actuator. For the gripper to be passive means that the stiffness changes with the force intrinsically by nature, not controlled by program. The stiffness also must be a continuum instead of just two states of stiffness mode. The force output range should match an average human’s gripping force range (0 to 45 N) to demonstrate the gripper’s ability to mimic a human hand. Also, each gripper finger is independently movable, such that the finger can oscillate while gripping an object.