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. 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) 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: 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.

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. 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. 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. Then we spent hours researching the different types of pens on the market, evaluating everything from their weight and sizing to their ease of use and grip design. The end result was a comprehensive list of ergonomic pens designed to assist with writing depending on your specific condition.

Pen & Pencil Gripper - Assorted Colours

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.

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. 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. 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. 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. 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.Advantages of vacuum grippers include the ability to handle many different types of items (even when those items are imperfectly positioned) and a lower price compared to other types of grippers. Disadvantages include added electricity costs to power compressed air or vacuum pumps and sensitivity to dusty conditions.

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.

Lite Touch Pen

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. 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. 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 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. 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.