Lateral thumb-wrapped grasp: The thumb wraps over the pencil to press it against the index finger for control. The fingers will help hold the pencil but do not move during writing. If this sounds like your situation, you may need an ergonomic writing tool that will allow your fingers to relax and will put less pressure on the nerves in your hand and wrist—for that reason we recommend the PenAgain Ergosof Ballpoint Pen. This ergonomically-designed writing tool takes advantage of the natural weight of your hand to generate the pressure needed to write. Choosing a gripper for your cobot can seem like a daunting task, especially with so many different types of grippers in robotics and so much overlapping terminology. That said, this pen is a ballpoint pen instead of a gel pen, so the ink is not quite as durable and can bleed through some papers. But, if you have particularly painful joints, this may be a better option than the Dr. Grip Limited Refillable & Retractable Gel Ink Rolling Ball Pen, as gel ink requires slightly more pressure to use.

Endorsed by the Arthritis Foundation, this retractable ballpoint pen also boasts a contoured rubber grip to give you maximum control. Plus, the refillable ink allows your pen to be reused instead of being replaced, which is not only more economical but also environmentally-conscious. Static tripod grasp: The pencil is held with the thumb, the index finger, and the long finger, but there is no movement of the fingertips during writing.

Pros of pneumatic grippers include low cost, large grip force range, ability to operate in tight spaces and fast response times. However, pneumatic grippers are best suited to handling single part types, so they might not be a great fit if your facility produces a lot of low volume/high mix items. This gripper type also provides limited force and position control and requires compressed air to function. By the time the child is a year old, they are able to grasp and release objects with enhanced manipulation. 4 By age 2, skilled dissociation, fine motor manipulation and refined release become evident. 2,3,4 Between the ages of 2 and 3 years, in-hand manipulation starts to develop, the child can release small objects with precision into a small hole, and they can use a digital pronated grasp. Between the ages of 3 to 4 years, the child develops refined control and starts to use a static tripod grasp. Between 4 and 5 years of age, the child develops distal control and strength, allowing them to shift to a dynamic tripod grasp for coloring and writing. 2,3 As the child matures into the teenage years, finger strength and control improve to allow for further hand-eye coordination. In fact, if you swap between pens and pencils often or have a pen or paintbrush you really like, these grips may be exactly what you need, says Karen Jacobs, OT, MS, EdD, an occupational therapist and clinical professor at Boston University. Not only are these grippers inexpensive but they also allow you to keep using the tools you love—even if you’re finding that it is harder to hold them. Dynamic quadrupod: The pencil is held in the tips of the thumb, index finger, long finger, and ring finger, resting in the webspace. Writing is done by moving the fingertips. Lateral tripod: The pencil is held along the lateral side of the thumb by the index finger and long finger. The pencil does not rest in the webspace. Writing is done by moving the fingertips.

When developing our list of recommended ergonomic writing tools, we consulted with two occupational therapists, a rheumatologist, and an orthopaedic surgeon to determine what to look for when selecting a product. We also asked about different types of pens, as well as which pens are best for specific conditions like arthritis, essential tremors, and Parkinson’s. Dynamic tripod: The pencil is held in the tips of the thumb, index finger, and long finger, resting in the webspace. Writing is done by moving the fingertips. The main advantage of hydraulic grippers is their excellent gripping power, but with that power come several disadvantages, including the added complexity of handling oil, a pump, and a reservoir. Consequently, hydraulic grippers tend to be higher maintenance than other gripper types and they are also unsuitable for most cleanroom and many medical applications. It also can be helpful to choose a writing tool that has a modified grip that makes it easier to use, especially if you don’t have full functionality of your hand and joints, says Nilanjana Bose, MD, a rheumatologist with Memorial Hermann. This will allow you to perform the functions you want to. But putting pen to paper can be a painful and challenging experience—especially if you have a medical condition that makes writing difficult. Traditional pens and pencils require a firm grasp between your index finger and your thumb, which places stress on your muscles and joints. And, if you are already prone to hand weakness, joint pain, or muscle fatigue this can cause discomfort and pain.That said, gel ink does require slightly more pressure to extract from the pen—even with a rolling ball. So, if you have extremely painful fingers or wrists you may want to opt for the Dr. Grip Center of Gravity pen, which is a more traditional ballpoint pen. Compressed air-type grippers produce between four and ten times more power than their electromechanical counterparts, which makes them a good fit for lifting heavy weights. However, electromechanical-driven vacuum grippers shine in applications requiring a high degree of mobility. A pneumatic gripper uses compressed air and pistons to operate its 'jaws' (also known as 'fingers'). Most commonly found in 2-finger and 3-finger configurations, pneumatic grippers are versatile tools that can be used in a wide range of applications. Designed by doctors, the Pencil Grip Heavyweight Ballpoint Pen has a built-in sculpted grip that encourages proper pen holding. Not only is the barrel slightly oversized, but the grip is molded to offer multiple ergonomic positions so you can choose the one that is most comfortable for you.

There are several factors to keep in mind when choosing a gripper, but the most important is to be led by the specific application you have in mind. Universal Robots makes this easy for you through the UR+ ecosystem, which provides a wide range of grippers specifically designed to handle the most common manufacturing tasks. Nevertheless, there are still some important questions to ask when selecting a gripper for your cobot: Plus, the weight of this pen is just enough to quell hand tremors by allowing the pen to do all the work for you. In fact, the design encourages support from your larger muscles while reducing the load on your smaller hand muscles. This is exactly what you need if you struggle with hand tremors while attempting to write. An adaptive pencil hold is an alternative that can provide stability and control. 1 It involves placing the pencil between the index finger and long finger and holding it with the tip of the thumb, the index finger, and the long finger. Immature Pencil Grasps As an added bonus, this pen also can be used to improve strength and develop fine motor skills in kids. And, it is easily adaptable to both lefties and righties. That said, the pen’s longevity is not quite as lengthy as we might have hoped, especially if it is tossed in a bag or drawer until it is needed. Instead, try keeping this pen safe from banging around against other items to protect the integrity of its design and to lengthen its life. Pens like the Fisher Space Pen are known for being able to write no matter what position they are placed in. They can even write upside down and at zero gravity! That said, look for a writing tool that gives you a lot of flexibility when you hold it. You want to be able to use the pen or pencil in a way that is most comfortable for you. Weight (or Pressure Needed)We love Dr. Grip pens so much that we included two different versions on our list of recommendations. Nothing beats their ergonomic design, easy grip, and perfect weight distribution. and the Dr. Grip Center of Gravity Pen by Pilot is no exception. One issue with traditional pens is that they often force your hand and fingers into a specific position when you are writing. But if you have a condition like arthritis or carpal tunnel this can cause pain and discomfort. For this reason, you want to find a writing tool that allows you to write at any angle, Dr. Warner says. Designed with a wide barrel that boasts an ergonomic, latex-free cushioned grip, this pen reduces writing stress. In fact, Meredith Warner, MD, a board-certified orthopedic surgeon and founder of Well Theory indicates that she opts for this pen when she gets writer’s cramp and finds it extremely helpful. Unfortunately, some people develop an awkward static grasp pattern, which can impact handwriting and speed since the motion primarily comes from the wrist. There are three types of immature grasp: 1 If you are having trouble gripping more traditional pens or you are not able to write legibly or control the pen’s movement, you may want to consider an ergonomic writing tool. Even not being able to write for a prolonged period of time without experiencing pain or fatigue could be a sign that you could benefit from a different writing implement, Dr. Bose says. And while stretching and hand strengthening exercises should be utilized as well, an appropriate writing tool can help make putting pen to paper a little easier.

What certifications should the gripper come with (e.g. food safe, IP7 compatability and so on.) What payload will the gripper need? We've separated the gripper types above based on the methods used to power the gripper, but there are other ways to distinguish gripper types, such as by form, which results in terms like 'parallel gripper', 'soft gripper' and 'angular gripper.' You may also have encountered terms like 'adaptive gripper', 'mechanical gripper' and 'claw.' Don't worry about this extra terminology for now; it will be covered in the sections where we dive into more detail on different gripper types. How to choose the right robotic gripper? Not only does this unique writing tool offer a big barrel that measures one inch making it easy to grip, but it also weighs in at 3.5 ounces, which is about the weight of a C battery. For people with Parkinson's or those who struggle with pen control due to tremors, shakiness, or declining fine motor skills, this weight will make writing easier for them. Plus, there is a wrist cord that can be used to keep the pen from dropping all the way to the floor, should they lose their hold on the pen. If you are looking for a weighted pen that can be used in just about any position—and has a bit of history attached to it—look no further than the Fisher Space Pen. When NASA put the first man on the moon, the astronauts used the Fisher Space Pen during their flight because it could be used at zero gravity. And while you may not need a pen that can write at zero gravity, upside down, or even underwater, you will appreciate that this pen can be used at any angle and on any surface—an important consideration if you frequently adjust the angle of your wrist or hand to find comfort when writing. Being forced to use a lot of pressure to make a pen function can cause pain and discomfort when writing. But an ergonomically-designed writing tool really doesn’t require a lot of pressure on the paper to get the ink to run smoothly. Look for pens that use the weight of your hand while writing rather than those that require a tight-fisted grip.Also, breaking up your activities into smaller chunks can prevent inflammatory conditions from causing pain flares. But if you cannot take a break from the writing activity, try using a writing utensil that keeps your hand from making a tight fist or keeps your fingers in a position that reduces stress such as the Penagain Ergosof Ballpoint Pen or the Pencil Grip Heavyweight Ballpoint Pen. As it turns out, yes. How you hold your pencil really does make a difference—and it will also impact your writing. Your pencil grasp is directly related to handwriting speed and legibility. 1 A mature grasp is more efficient and less fatiguing. It involves good distal hold and control on the pen or pencil, which requires the development of adequate intrinsic strength and in-hand manipulation skills. Mature Grasp Styles Deciding which type of ergonomic writing tool is the best for you will depend on your personal needs and preferences. If you have arthritis or carpal tunnel, you may find that pens designed to alleviate stress and redistribute weight are most useful. Meanwhile, if you experience hand tremors, have trouble controlling a pen, or writing comfortably, you may find that writing tools with some weight to them are better for you.