3D PRINTED ROBOT HAND (2016):
This is a simple but effective hand that is actuated by a lead screw. It is entirely 3D printed other than the lead screw, rubber bands, and dowel pins and only has five moving parts.
However, as the videos illustrate, despite its simplicity it can pick up odd-shaped and very small objects.
The three fingers' radially symmetrical arrangement, and wide range of motion allow the hand to pick up a wide range of sizes and shapes of objects from many angles.
The renders have different finger shapes that were ideated after testing with the physical model, however were never made and tested.