{
  "abstract": "A mechanical finger gripper comprising one tool-change interface and four gripper fingers. When the gripper reaches the gripping position, the gripper fingers are closed by the pneumatic actuator. The arrangement is a proposed configuration composed from a typed library of mechanism blocks derived from published patents; it has not been constructed.",
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  "published_at": "2026-09-17T08:13:00.631271Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Four finger pneumatic gripper, on a tool changer",
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