Apparatus for sampling or gripping by means of a deformable tool

A sampling or gripping apparatus, comprising:

• a support having a lateral wall and a rear face and
• a tool mounted on the support, wherein the tool is deformable and
• wherein the tool comprises a sleeve having a lateral wall, and an end face and an edge between which the lateral wall of the tool extends,
• wherein the edge is fastened to the support and the end face extends away from the support in a deployed state of the sleeve where the lateral wall of the support, the lateral wall of the sleeve, the rear face and the end face enclose an internal volume extending from the end face to the rear face,
• and the apparatus further comprising:
• a sleeve retraction actuator returning the end face into the internal volume and folding the lateral wall of the sleeve to a folded state,
• wherein the tool further comprises at least one ring of wafers which are attached to the sleeve and wherein the wafers are radiating around the sleeve in the deployed state,
• wherein the at least one ring of wafers is surrounded by the lateral wall of the sleeve in the folded state, and
• wherein the apparatus further comprises a retractable means for guiding the retraction of the sleeve by the retraction actuator, wherein the retractable means extends in the internal volume by being connected, at the opposite ends thereof, to the rear face of the support and to the end face of the sleeve.