A new versatile gripper

From early childhood, when a person picks up an object using their hands they use haptic feedback to automatically adjust the force of their grip according to the object they are lifting. A completely different grip is required when holding a soft piece of fruit and a glass ornament both very delicate in their own ways and your body will automatically adjust to the appropriate grip by sensing small shear movements and exploiting the natural compliance of your fingers in the soft, fleshy pads of your fin