The 2-Finger Gripper has two articulated fingers that each have two joints two phalanxes per finger, as shown in the figure below. The grasp-type gripper can engage up to five points of contact with an object two on each of the phalanges plus the palm. The fingers are under-actuated, meaning they have fewer motors than the total number of joints. This configuration allows the fingers to automatically adapt to the shape of the object they grasp and it also simplifies the control of the grasp-type gripper.