System, method, and device for gripping fragile or irregularly-shaped objects

An underactuated gripper having a passively force-limited gripping surface for grappling and manipulation of fragile or irregularly shaped objects in low gravity or 0G environments, the apparatus comprising:

• an actuator for providing a load for gripping;
• first and second gripping fingers, each connected to the actuator at a respective first end, the first and second gripping fingers configured to open and close in response to an input from the actuator;
• a first contact surface disposed at a second, free end of the first gripping finger and a second contact surface disposed at a second, free end of the second gripping finger, the first and second contact surfaces for applying a predetermined and low amount of pressure to an object being gripped as the first and second fingers close on the object;
• the first and second contact surfaces each having a plurality of spring elements disposed thereon which passively deflect upon contacting the object as the first and second fingers close around the object to (i) distribute a clamping load across the first and second contacting surfaces, (ii) limit the contact force applied to the object, and (iii) conform to irregularities in a surface profile of the object.