Systems, devices, articles, and methods for prehension

A system comprising:

• a base;
• an actuator coupled to the base;
• an adhesion gripper coupled to the base, wherein the adhesion gripper comprises a gripper face defining one or more fluid ports configured to generate an airstream to produce a localized low-pressure region adjacent the gripper face, which creates an attractive lifting force toward the gripper face to draw an item toward the gripper face, wherein the adhesion gripper includes a plurality of standoffs on the gripper face that prevent the gripper face and the item from mating;
• and
• a plurality of fingers coupled to the base, wherein at least one of the plurality of fingers includes:
• a proximal link comprising a first body and a guide;
• a first joint that couples the proximal link to the base, wherein the first joint is compliant in a first direction;
• a distal link comprising:
• a first axis, the first axis being an axis that intersects a joint that couples the distal end of the proximal link to a proximal end of the distal link;
• a node sized and shaped to receive a first tendon;
• a distal pad disposed on a volar side of the first axis;
• and
• a lever arm disposed on a proximal side to the distal pad and which extends in a volar direction from the first axis to the node;
• and
• a second joint that couples the distal link to the proximal link;
• and
• a plurality of tendons, wherein a first respective tendon in the plurality of tendons:
• is associated with a first respective finger of the plurality of fingers;
• couples to a first lever arm of a first distal link of the first respective finger;
• routes through a first guide included in a first proximal link of the first respective finger;
• and
• couples to the actuator;
• and
• wherein the plurality of fingers is closable and releasable, by respective contraction and release of the respective plurality of tendons by the actuator, around an item engaged by the adhesion gripper.