US Patent 10464217 Robotic gripper with driven belts

An apparatus including a base, a plurality of fingers coupled to the base and arranged to define a containment area, where each finger includes a mechanical assembly defining a belt path, a belt positioned within the belt path, and a drive motor configured to operate the belt, and a controller configured to operate the drive motors to move the belts in a retract direction to move an external object into the containment area is provided. Related methods and systems are also provided.