In the summer of 2018 I worked at SAKE Robotics creating robotic grippers. I designed a gripper that has the same range of motion as a human thumb and index finger. It has a 4 DOF thumb, and a 2 DOF index finger. Throughout the project, I was in charge of all design, conception and iteration. In addition I developed the control algorithms for the gripper using ROS via an URDF. RVIZ and Python were used to control the robot allowing it to grip a variety of objects. This project is ongoing and more iterations will be developed before an eventual product is released.