A Robotic Gripping Device

A robotic gripping device, comprising:

• a base part;
• and
• at least one finger, said at least one finger comprising:
• an inner link, said inner link being rotatable relative to the base part via a first joint;
• and
• an outer link, said outer link being rotatably connected by a proximal end thereof to the inner link via a second joint, the outer link carrying an abutment part at a distal end thereof;
• an elongated flexible tension element attached to the outer link between the proximal end and the distal end thereof;
• and
• a first force device for applying tension to the tension element
• wherein:
• the robotic gripping device is adapted to grip an item at a front end of the robotic gripping device;
• the robotic gripping device is configured for the inner link to be rotatable between a retracted position and an extended position;
• in retracted position, the second joint is positioned rear of the first joint relative to the front end;
• in the extended position, the second joint is positioned in front of the retracted position, relative to the front end of the robotic gripping device;
• the outer link is configured to rotate relative to the inner link via the second joint between an extended position of the outer link remote from a longitudinal centre axis and a retracted position of the outer link closer to the centre axis;
• a second force device is provided for loading the outer link to rotate towards the extended position thereof;
• and
• a third force device is provided for loading the inner link to rotate towards the retracted position thereof.