Making Simple Robots, 2nd Edition

squeeze one corner of the base, it curls in that direction. The “rungs” of the

ladder keep the fin gripper more or less in the same pointy triangle shape.

On a fish, this kind of tail can push against the pressure of the water with

more force. On a robot hand, two or more fin gripper fingers can be put

together to make a claw that curls around objects without crushing them.

This paper version of a fin gripper finger is based on a paper model Festo

offers for students, but it’s been simplified to use only one strip of paper.

You can create a fin gripper claw by connecting two or more fin grippers to

a “wrist.” When you pull the fingers in, they ...