---
publication_id: "OT-2026-000002972"
title: "A gripper assembly for a robotic manipulator"
published_at: "2026-09-15T19:16:29.110777Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002972"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j15/0009"
  - "b25j15/022"
  - "b25j9/1612"
  - "b25j9/1612"
  - "b25j13/082"
  - "b25j13/082"
---

# A gripper assembly for a robotic manipulator

## Abstract

This disclosure concerns ascertaining a force applied to a finger element of a gripper assembly of a robotic manipulator during the manipulation of an object. In one aspect, it discloses a gripper assembly comprising a finger element, an actuator, a linkage assembly comprising a plurality of arms connecting the finger element to the actuator, and a sensor assembly configured to output signals indicative of force components applied to the plurality of arms as a result of a force being applied to the finger element.