D-PALI stands for Dexterous-PArrallel Linkage. It is a £150 gripper designed as an in-hand manipulation platform. By making use of parrallel mechanisms commonly found in industrial manipulators, we faciliatate the ability to translate and rotate objects within the grasp on the hand.

The first paper on D-PALI is currently in review. The gripper's design files and control code will be made public when the paper is accepted.